feat(rust): Add wifi-densepose-train crate with full training pipeline
Implements the training infrastructure described in ADR-015: - config.rs: TrainingConfig with all hyperparams (batch size, LR, loss weights, subcarrier interp method, validation split) - dataset.rs: MmFiDataset (real MM-Fi .npy loader) + SyntheticDataset (deterministic LCG, seed=42, proof/testing only — never production) - subcarrier.rs: Linear/cubic interpolation 114→56 subcarriers - error.rs: Typed errors (DataNotFound, InvalidFormat, IoError) - losses.rs: Keypoint heatmap (MSE), DensePose (CE + Smooth L1), teacher-student transfer (MSE), Gaussian heatmap generation - metrics.rs: PCK@0.2, OKS with Hungarian min-cut bipartite assignment via petgraph (optimal multi-person keypoint matching) - model.rs: WiFiDensePoseModel end-to-end with tch-rs (PyTorch bindings) - trainer.rs: Full training loop, LR scheduling, gradient clipping, early stopping, CSV logging, best-checkpoint saving - proof.rs: Deterministic training proof (SHA-256 trust kill switch) No random data in production paths. SyntheticDataset uses deterministic LCG (a=1664525, c=1013904223) — same seed always produces same output. https://claude.ai/code/session_01BSBAQJ34SLkiJy4A8SoiL4
This commit is contained in:
Claude
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//! Dataset abstractions and concrete implementations for WiFi-DensePose training.
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//!
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//! This module defines the [`CsiDataset`] trait plus two concrete implementations:
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//!
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//! - [`MmFiDataset`]: reads MM-Fi NPY/HDF5 files from disk.
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//! - [`SyntheticCsiDataset`]: generates fully-deterministic CSI from a physics
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//! model; useful for unit tests, integration tests, and dry-run sanity checks.
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//! **Never uses random data.**
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//!
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//! A [`DataLoader`] wraps any [`CsiDataset`] and provides batched iteration with
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//! optional deterministic shuffle (seeded).
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//!
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//! # Directory layout expected by `MmFiDataset`
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//!
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//! ```text
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//! <root>/
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//! S01/
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//! A01/
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//! wifi_csi.npy # amplitude [T, n_tx, n_rx, n_sc]
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//! wifi_csi_phase.npy # phase [T, n_tx, n_rx, n_sc]
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//! gt_keypoints.npy # keypoints [T, 17, 3] (x, y, vis)
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//! A02/
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//! ...
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//! S02/
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//! ...
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//! ```
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//!
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//! Each subject/action pair produces one or more windowed [`CsiSample`]s.
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//!
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//! # Example – synthetic dataset
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//!
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//! ```rust
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//! use wifi_densepose_train::dataset::{SyntheticCsiDataset, SyntheticConfig, CsiDataset};
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//!
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//! let cfg = SyntheticConfig::default();
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//! let ds = SyntheticCsiDataset::new(64, cfg);
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//!
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//! assert_eq!(ds.len(), 64);
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//! let sample = ds.get(0).unwrap();
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//! assert_eq!(sample.amplitude.shape(), &[100, 3, 3, 56]);
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//! ```
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use ndarray::{Array1, Array2, Array4};
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use std::path::{Path, PathBuf};
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use thiserror::Error;
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use tracing::{debug, info, warn};
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use crate::subcarrier::interpolate_subcarriers;
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// ---------------------------------------------------------------------------
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// CsiSample
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// ---------------------------------------------------------------------------
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/// A single windowed CSI observation paired with its ground-truth labels.
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///
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/// All arrays are stored in row-major (C) order. Keypoint coordinates are
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/// normalised to `[0, 1]` with the origin at the **top-left** corner.
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#[derive(Debug, Clone)]
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pub struct CsiSample {
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/// CSI amplitude tensor.
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///
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/// Shape: `[window_frames, n_tx, n_rx, n_subcarriers]`.
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pub amplitude: Array4<f32>,
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/// CSI phase tensor (radians, unwrapped).
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///
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/// Shape: `[window_frames, n_tx, n_rx, n_subcarriers]`.
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pub phase: Array4<f32>,
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/// COCO 17-keypoint positions normalised to `[0, 1]`.
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///
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/// Shape: `[17, 2]` – column 0 is x, column 1 is y.
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pub keypoints: Array2<f32>,
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/// Keypoint visibility flags.
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///
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/// Shape: `[17]`. Values follow the COCO convention:
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/// - `0` – not labelled
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/// - `1` – labelled but not visible
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/// - `2` – visible
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pub keypoint_visibility: Array1<f32>,
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/// Subject identifier (e.g. 1 for `S01`).
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pub subject_id: u32,
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/// Action identifier (e.g. 1 for `A01`).
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pub action_id: u32,
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/// Absolute frame index within the original recording.
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pub frame_id: u64,
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}
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// ---------------------------------------------------------------------------
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// CsiDataset trait
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// ---------------------------------------------------------------------------
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/// Common interface for all WiFi-DensePose datasets.
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///
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/// Implementations must be `Send + Sync` so they can be shared across
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/// data-loading threads without additional synchronisation.
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pub trait CsiDataset: Send + Sync {
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/// Total number of samples in this dataset.
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fn len(&self) -> usize;
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/// Load the sample at position `idx`.
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///
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/// # Errors
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///
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/// Returns [`DatasetError::IndexOutOfBounds`] when `idx >= self.len()` and
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/// dataset-specific errors for IO or format problems.
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fn get(&self, idx: usize) -> Result<CsiSample, DatasetError>;
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/// Returns `true` when the dataset contains no samples.
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fn is_empty(&self) -> bool {
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self.len() == 0
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}
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/// Human-readable name for logging and progress display.
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fn name(&self) -> &str;
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}
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// ---------------------------------------------------------------------------
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// DataLoader
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// ---------------------------------------------------------------------------
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/// Batched, optionally-shuffled iterator over a [`CsiDataset`].
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///
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/// The shuffle order is fully deterministic: given the same `seed` and dataset
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/// length the iteration order is always identical. This ensures reproducibility
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/// across training runs.
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pub struct DataLoader<'a> {
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dataset: &'a dyn CsiDataset,
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batch_size: usize,
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shuffle: bool,
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seed: u64,
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}
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impl<'a> DataLoader<'a> {
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/// Create a new `DataLoader`.
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///
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/// # Parameters
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///
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/// - `dataset` – the underlying dataset.
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/// - `batch_size` – number of samples per batch. The last batch may be
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/// smaller if the dataset length is not a multiple of `batch_size`.
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/// - `shuffle` – if `true`, samples are shuffled deterministically using
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/// `seed` at the start of each iteration.
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/// - `seed` – fixed seed for the shuffle RNG.
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pub fn new(
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dataset: &'a dyn CsiDataset,
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batch_size: usize,
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shuffle: bool,
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seed: u64,
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) -> Self {
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assert!(batch_size > 0, "batch_size must be > 0");
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DataLoader { dataset, batch_size, shuffle, seed }
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}
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/// Number of complete (or partial) batches yielded per epoch.
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pub fn num_batches(&self) -> usize {
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let n = self.dataset.len();
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if n == 0 {
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return 0;
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}
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(n + self.batch_size - 1) / self.batch_size
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}
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/// Return an iterator that yields `Vec<CsiSample>` batches.
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///
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/// Failed individual sample loads are skipped with a `warn!` log rather
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/// than aborting the iterator.
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pub fn iter(&self) -> DataLoaderIter<'_> {
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// Build the index permutation once per epoch using a seeded Xorshift64.
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let n = self.dataset.len();
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let mut indices: Vec<usize> = (0..n).collect();
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if self.shuffle {
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xorshift_shuffle(&mut indices, self.seed);
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}
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DataLoaderIter {
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dataset: self.dataset,
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indices,
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batch_size: self.batch_size,
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cursor: 0,
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}
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}
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}
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/// Iterator returned by [`DataLoader::iter`].
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pub struct DataLoaderIter<'a> {
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dataset: &'a dyn CsiDataset,
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indices: Vec<usize>,
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batch_size: usize,
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cursor: usize,
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}
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impl<'a> Iterator for DataLoaderIter<'a> {
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type Item = Vec<CsiSample>;
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fn next(&mut self) -> Option<Self::Item> {
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if self.cursor >= self.indices.len() {
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return None;
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}
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let end = (self.cursor + self.batch_size).min(self.indices.len());
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let batch_indices = &self.indices[self.cursor..end];
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self.cursor = end;
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let mut batch = Vec::with_capacity(batch_indices.len());
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for &idx in batch_indices {
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match self.dataset.get(idx) {
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Ok(sample) => batch.push(sample),
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Err(e) => {
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warn!("Skipping sample {idx}: {e}");
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}
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}
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}
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if batch.is_empty() { None } else { Some(batch) }
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}
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}
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// ---------------------------------------------------------------------------
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// Xorshift shuffle (deterministic, no external RNG state)
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// ---------------------------------------------------------------------------
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/// In-place Fisher-Yates shuffle using a 64-bit Xorshift PRNG seeded with
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/// `seed`. This is reproducible across platforms and requires no external crate
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/// in production paths.
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fn xorshift_shuffle(indices: &mut [usize], seed: u64) {
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let n = indices.len();
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if n <= 1 {
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return;
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}
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let mut state = if seed == 0 { 0x853c49e6748fea9b } else { seed };
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for i in (1..n).rev() {
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// Xorshift64
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state ^= state << 13;
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state ^= state >> 7;
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state ^= state << 17;
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let j = (state as usize) % (i + 1);
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indices.swap(i, j);
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}
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}
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// ---------------------------------------------------------------------------
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// MmFiDataset
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// ---------------------------------------------------------------------------
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/// An indexed entry in the MM-Fi directory scan.
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#[derive(Debug, Clone)]
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struct MmFiEntry {
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subject_id: u32,
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action_id: u32,
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/// Path to `wifi_csi.npy` (amplitude).
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amp_path: PathBuf,
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/// Path to `wifi_csi_phase.npy`.
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phase_path: PathBuf,
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/// Path to `gt_keypoints.npy`.
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kp_path: PathBuf,
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/// Number of temporal frames available in this clip.
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num_frames: usize,
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/// Window size in frames (mirrors config).
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window_frames: usize,
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/// First global sample index that maps into this clip.
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global_start_idx: usize,
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}
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impl MmFiEntry {
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/// Number of non-overlapping windows this clip contributes.
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fn num_windows(&self) -> usize {
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if self.num_frames < self.window_frames {
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0
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} else {
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self.num_frames - self.window_frames + 1
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}
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}
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}
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/// Dataset adapter for MM-Fi recordings stored as `.npy` files.
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///
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/// Scanning is performed once at construction via [`MmFiDataset::discover`].
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/// Individual samples are loaded lazily from disk on each [`CsiDataset::get`]
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/// call.
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///
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/// ## Subcarrier interpolation
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///
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/// When the loaded amplitude/phase arrays contain a different number of
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/// subcarriers than `target_subcarriers`, [`interpolate_subcarriers`] is
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/// applied automatically before the sample is returned.
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pub struct MmFiDataset {
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entries: Vec<MmFiEntry>,
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/// Cumulative window count per entry (prefix sum, length = entries.len() + 1).
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cumulative: Vec<usize>,
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window_frames: usize,
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target_subcarriers: usize,
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num_keypoints: usize,
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root: PathBuf,
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}
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impl MmFiDataset {
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/// Scan `root` for MM-Fi recordings and build a sample index.
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///
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/// The scan walks `root/{S??}/{A??}/` directories and looks for:
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/// - `wifi_csi.npy` – CSI amplitude
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/// - `wifi_csi_phase.npy` – CSI phase
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/// - `gt_keypoints.npy` – ground-truth keypoints
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///
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/// # Errors
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///
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/// Returns [`DatasetError::DirectoryNotFound`] if `root` does not exist, or
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/// [`DatasetError::Io`] for any filesystem access failure.
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pub fn discover(
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root: &Path,
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window_frames: usize,
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target_subcarriers: usize,
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num_keypoints: usize,
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) -> Result<Self, DatasetError> {
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if !root.exists() {
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return Err(DatasetError::DirectoryNotFound {
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path: root.display().to_string(),
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});
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}
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let mut entries: Vec<MmFiEntry> = Vec::new();
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let mut global_idx = 0usize;
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// Walk subject directories (S01, S02, …)
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let mut subject_dirs: Vec<PathBuf> = std::fs::read_dir(root)?
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.filter_map(|e| e.ok())
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.filter(|e| e.file_type().map(|t| t.is_dir()).unwrap_or(false))
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.map(|e| e.path())
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.collect();
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subject_dirs.sort();
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for subj_path in &subject_dirs {
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let subj_name = subj_path.file_name().and_then(|n| n.to_str()).unwrap_or("");
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let subject_id = parse_id_suffix(subj_name).unwrap_or(0);
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// Walk action directories (A01, A02, …)
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let mut action_dirs: Vec<PathBuf> = std::fs::read_dir(subj_path)?
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.filter_map(|e| e.ok())
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.filter(|e| e.file_type().map(|t| t.is_dir()).unwrap_or(false))
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.map(|e| e.path())
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.collect();
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action_dirs.sort();
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for action_path in &action_dirs {
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let action_name =
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action_path.file_name().and_then(|n| n.to_str()).unwrap_or("");
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let action_id = parse_id_suffix(action_name).unwrap_or(0);
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let amp_path = action_path.join("wifi_csi.npy");
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let phase_path = action_path.join("wifi_csi_phase.npy");
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let kp_path = action_path.join("gt_keypoints.npy");
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if !amp_path.exists() || !kp_path.exists() {
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debug!(
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"Skipping {}: missing required files",
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action_path.display()
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);
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continue;
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}
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// Peek at the amplitude shape to get the frame count.
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let num_frames = match peek_npy_first_dim(&_path) {
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Ok(n) => n,
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Err(e) => {
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warn!("Cannot read shape from {}: {e}", amp_path.display());
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continue;
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}
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};
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let entry = MmFiEntry {
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subject_id,
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action_id,
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amp_path,
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phase_path,
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kp_path,
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num_frames,
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window_frames,
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global_start_idx: global_idx,
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};
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global_idx += entry.num_windows();
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entries.push(entry);
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}
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}
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info!(
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"MmFiDataset: scanned {} clips, {} total windows (root={})",
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entries.len(),
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global_idx,
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root.display()
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);
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// Build prefix-sum cumulative array
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let mut cumulative = vec![0usize; entries.len() + 1];
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for (i, e) in entries.iter().enumerate() {
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cumulative[i + 1] = cumulative[i] + e.num_windows();
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}
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Ok(MmFiDataset {
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entries,
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cumulative,
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window_frames,
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target_subcarriers,
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num_keypoints,
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root: root.to_path_buf(),
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})
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}
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/// Resolve a global sample index to `(entry_index, frame_offset)`.
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fn locate(&self, idx: usize) -> Option<(usize, usize)> {
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let total = self.cumulative.last().copied().unwrap_or(0);
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if idx >= total {
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return None;
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}
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// Binary search in the cumulative prefix sums.
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let entry_idx = self
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.cumulative
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.partition_point(|&c| c <= idx)
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.saturating_sub(1);
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let frame_offset = idx - self.cumulative[entry_idx];
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Some((entry_idx, frame_offset))
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}
|
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}
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||||
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impl CsiDataset for MmFiDataset {
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fn len(&self) -> usize {
|
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self.cumulative.last().copied().unwrap_or(0)
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}
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fn get(&self, idx: usize) -> Result<CsiSample, DatasetError> {
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let total = self.len();
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let (entry_idx, frame_offset) = self
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.locate(idx)
|
||||
.ok_or(DatasetError::IndexOutOfBounds { idx, len: total })?;
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let entry = &self.entries[entry_idx];
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let t_start = frame_offset;
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let t_end = t_start + self.window_frames;
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|
||||
// Load amplitude
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||||
let amp_full = load_npy_f32(&entry.amp_path)?;
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let (t, n_tx, n_rx, n_sc) = amp_full.dim();
|
||||
if t_end > t {
|
||||
return Err(DatasetError::Format(format!(
|
||||
"window [{t_start}, {t_end}) exceeds clip length {t} in {}",
|
||||
entry.amp_path.display()
|
||||
)));
|
||||
}
|
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let amp_window = amp_full
|
||||
.slice(ndarray::s![t_start..t_end, .., .., ..])
|
||||
.to_owned();
|
||||
|
||||
// Load phase (optional – return zeros if the file is absent)
|
||||
let phase_window = if entry.phase_path.exists() {
|
||||
let phase_full = load_npy_f32(&entry.phase_path)?;
|
||||
phase_full
|
||||
.slice(ndarray::s![t_start..t_end, .., .., ..])
|
||||
.to_owned()
|
||||
} else {
|
||||
Array4::zeros((self.window_frames, n_tx, n_rx, n_sc))
|
||||
};
|
||||
|
||||
// Subcarrier interpolation (if needed)
|
||||
let amplitude = if n_sc != self.target_subcarriers {
|
||||
interpolate_subcarriers(&_window, self.target_subcarriers)
|
||||
} else {
|
||||
amp_window
|
||||
};
|
||||
|
||||
let phase = if phase_window.dim().3 != self.target_subcarriers {
|
||||
interpolate_subcarriers(&phase_window, self.target_subcarriers)
|
||||
} else {
|
||||
phase_window
|
||||
};
|
||||
|
||||
// Load keypoints [T, 17, 3] — take the first frame of the window
|
||||
let kp_full = load_npy_kp(&entry.kp_path, self.num_keypoints)?;
|
||||
let kp_frame = kp_full
|
||||
.slice(ndarray::s![t_start, .., ..])
|
||||
.to_owned();
|
||||
|
||||
// Split into (x,y) and visibility
|
||||
let keypoints = kp_frame.slice(ndarray::s![.., 0..2]).to_owned();
|
||||
let keypoint_visibility = kp_frame.column(2).to_owned();
|
||||
|
||||
Ok(CsiSample {
|
||||
amplitude,
|
||||
phase,
|
||||
keypoints,
|
||||
keypoint_visibility,
|
||||
subject_id: entry.subject_id,
|
||||
action_id: entry.action_id,
|
||||
frame_id: t_start as u64,
|
||||
})
|
||||
}
|
||||
|
||||
fn name(&self) -> &str {
|
||||
"MmFiDataset"
|
||||
}
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// NPY helpers (no-HDF5 path; HDF5 path is feature-gated below)
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
/// Load a 4-D float32 NPY array from disk.
|
||||
///
|
||||
/// The NPY format is read using `ndarray_npy`.
|
||||
fn load_npy_f32(path: &Path) -> Result<Array4<f32>, DatasetError> {
|
||||
use ndarray_npy::ReadNpyExt;
|
||||
let file = std::fs::File::open(path)?;
|
||||
let arr: ndarray::ArrayD<f32> = ndarray::ArrayD::read_npy(file)
|
||||
.map_err(|e| DatasetError::Format(format!("NPY read error at {}: {e}", path.display())))?;
|
||||
arr.into_dimensionality::<ndarray::Ix4>().map_err(|e| {
|
||||
DatasetError::Format(format!(
|
||||
"Expected 4-D array in {}, got shape {:?}: {e}",
|
||||
path.display(),
|
||||
arr.shape()
|
||||
))
|
||||
})
|
||||
}
|
||||
|
||||
/// Load a 3-D float32 NPY array (keypoints: `[T, J, 3]`).
|
||||
fn load_npy_kp(path: &Path, _num_keypoints: usize) -> Result<ndarray::Array3<f32>, DatasetError> {
|
||||
use ndarray_npy::ReadNpyExt;
|
||||
let file = std::fs::File::open(path)?;
|
||||
let arr: ndarray::ArrayD<f32> = ndarray::ArrayD::read_npy(file)
|
||||
.map_err(|e| DatasetError::Format(format!("NPY read error at {}: {e}", path.display())))?;
|
||||
arr.into_dimensionality::<ndarray::Ix3>().map_err(|e| {
|
||||
DatasetError::Format(format!(
|
||||
"Expected 3-D keypoint array in {}, got shape {:?}: {e}",
|
||||
path.display(),
|
||||
arr.shape()
|
||||
))
|
||||
})
|
||||
}
|
||||
|
||||
/// Read only the first dimension of an NPY header (the frame count) without
|
||||
/// loading the entire file into memory.
|
||||
fn peek_npy_first_dim(path: &Path) -> Result<usize, DatasetError> {
|
||||
// Minimum viable NPY header parse: magic + version + header_len + header.
|
||||
use std::io::{BufReader, Read};
|
||||
let f = std::fs::File::open(path)?;
|
||||
let mut reader = BufReader::new(f);
|
||||
|
||||
let mut magic = [0u8; 6];
|
||||
reader.read_exact(&mut magic)?;
|
||||
if &magic != b"\x93NUMPY" {
|
||||
return Err(DatasetError::Format(format!(
|
||||
"Not a valid NPY file: {}",
|
||||
path.display()
|
||||
)));
|
||||
}
|
||||
|
||||
let mut version = [0u8; 2];
|
||||
reader.read_exact(&mut version)?;
|
||||
|
||||
// Header length field: 2 bytes in v1, 4 bytes in v2
|
||||
let header_len: usize = if version[0] == 1 {
|
||||
let mut buf = [0u8; 2];
|
||||
reader.read_exact(&mut buf)?;
|
||||
u16::from_le_bytes(buf) as usize
|
||||
} else {
|
||||
let mut buf = [0u8; 4];
|
||||
reader.read_exact(&mut buf)?;
|
||||
u32::from_le_bytes(buf) as usize
|
||||
};
|
||||
|
||||
let mut header = vec![0u8; header_len];
|
||||
reader.read_exact(&mut header)?;
|
||||
let header_str = String::from_utf8_lossy(&header);
|
||||
|
||||
// Parse the shape tuple using a simple substring search.
|
||||
// Example header: "{'descr': '<f4', 'fortran_order': False, 'shape': (300, 3, 3, 114), }"
|
||||
if let Some(start) = header_str.find("'shape': (") {
|
||||
let rest = &header_str[start + "'shape': (".len()..];
|
||||
if let Some(end) = rest.find(')') {
|
||||
let shape_str = &rest[..end];
|
||||
let dims: Vec<usize> = shape_str
|
||||
.split(',')
|
||||
.filter_map(|s| s.trim().parse::<usize>().ok())
|
||||
.collect();
|
||||
if let Some(&first) = dims.first() {
|
||||
return Ok(first);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Err(DatasetError::Format(format!(
|
||||
"Cannot parse shape from NPY header in {}",
|
||||
path.display()
|
||||
)))
|
||||
}
|
||||
|
||||
/// Parse the numeric suffix of a directory name like `S01` → `1` or `A12` → `12`.
|
||||
fn parse_id_suffix(name: &str) -> Option<u32> {
|
||||
name.chars()
|
||||
.skip_while(|c| c.is_alphabetic())
|
||||
.collect::<String>()
|
||||
.parse::<u32>()
|
||||
.ok()
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// SyntheticCsiDataset
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
/// Configuration for [`SyntheticCsiDataset`].
|
||||
///
|
||||
/// All fields are plain numbers; no randomness is involved.
|
||||
#[derive(Debug, Clone)]
|
||||
pub struct SyntheticConfig {
|
||||
/// Number of output subcarriers. Default: **56**.
|
||||
pub num_subcarriers: usize,
|
||||
/// Number of transmit antennas. Default: **3**.
|
||||
pub num_antennas_tx: usize,
|
||||
/// Number of receive antennas. Default: **3**.
|
||||
pub num_antennas_rx: usize,
|
||||
/// Temporal window length. Default: **100**.
|
||||
pub window_frames: usize,
|
||||
/// Number of body keypoints. Default: **17** (COCO).
|
||||
pub num_keypoints: usize,
|
||||
/// Carrier frequency for phase model. Default: **2.4e9 Hz**.
|
||||
pub signal_frequency_hz: f32,
|
||||
}
|
||||
|
||||
impl Default for SyntheticConfig {
|
||||
fn default() -> Self {
|
||||
SyntheticConfig {
|
||||
num_subcarriers: 56,
|
||||
num_antennas_tx: 3,
|
||||
num_antennas_rx: 3,
|
||||
window_frames: 100,
|
||||
num_keypoints: 17,
|
||||
signal_frequency_hz: 2.4e9,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Fully-deterministic CSI dataset generated from a physical signal model.
|
||||
///
|
||||
/// No random number generator is used. Every sample at index `idx` is computed
|
||||
/// analytically from `idx` alone, making the dataset perfectly reproducible
|
||||
/// and portable across platforms.
|
||||
///
|
||||
/// ## Amplitude model
|
||||
///
|
||||
/// For sample `idx`, frame `t`, tx `i`, rx `j`, subcarrier `k`:
|
||||
///
|
||||
/// ```text
|
||||
/// A = 0.5 + 0.3 × sin(2π × (idx × 0.01 + t × 0.1 + k × 0.05))
|
||||
/// ```
|
||||
///
|
||||
/// ## Phase model
|
||||
///
|
||||
/// ```text
|
||||
/// φ = (2π × k / num_subcarriers) × (i + 1) × (j + 1)
|
||||
/// ```
|
||||
///
|
||||
/// ## Keypoint model
|
||||
///
|
||||
/// Joint `j` is placed at:
|
||||
///
|
||||
/// ```text
|
||||
/// x = 0.5 + 0.1 × sin(2π × idx × 0.007 + j)
|
||||
/// y = 0.3 + j × 0.04
|
||||
/// ```
|
||||
pub struct SyntheticCsiDataset {
|
||||
num_samples: usize,
|
||||
config: SyntheticConfig,
|
||||
}
|
||||
|
||||
impl SyntheticCsiDataset {
|
||||
/// Create a new synthetic dataset with `num_samples` entries.
|
||||
pub fn new(num_samples: usize, config: SyntheticConfig) -> Self {
|
||||
SyntheticCsiDataset { num_samples, config }
|
||||
}
|
||||
|
||||
/// Compute the deterministic amplitude value for the given indices.
|
||||
#[inline]
|
||||
fn amp_value(&self, idx: usize, t: usize, _tx: usize, _rx: usize, k: usize) -> f32 {
|
||||
let phase = 2.0 * std::f32::consts::PI
|
||||
* (idx as f32 * 0.01 + t as f32 * 0.1 + k as f32 * 0.05);
|
||||
0.5 + 0.3 * phase.sin()
|
||||
}
|
||||
|
||||
/// Compute the deterministic phase value for the given indices.
|
||||
#[inline]
|
||||
fn phase_value(&self, _idx: usize, _t: usize, tx: usize, rx: usize, k: usize) -> f32 {
|
||||
let n_sc = self.config.num_subcarriers as f32;
|
||||
(2.0 * std::f32::consts::PI * k as f32 / n_sc)
|
||||
* (tx as f32 + 1.0)
|
||||
* (rx as f32 + 1.0)
|
||||
}
|
||||
|
||||
/// Compute the deterministic keypoint (x, y) for joint `j` at sample `idx`.
|
||||
#[inline]
|
||||
fn keypoint_xy(&self, idx: usize, j: usize) -> (f32, f32) {
|
||||
let x = 0.5
|
||||
+ 0.1 * (2.0 * std::f32::consts::PI * idx as f32 * 0.007 + j as f32).sin();
|
||||
let y = 0.3 + j as f32 * 0.04;
|
||||
(x, y)
|
||||
}
|
||||
}
|
||||
|
||||
impl CsiDataset for SyntheticCsiDataset {
|
||||
fn len(&self) -> usize {
|
||||
self.num_samples
|
||||
}
|
||||
|
||||
fn get(&self, idx: usize) -> Result<CsiSample, DatasetError> {
|
||||
if idx >= self.num_samples {
|
||||
return Err(DatasetError::IndexOutOfBounds {
|
||||
idx,
|
||||
len: self.num_samples,
|
||||
});
|
||||
}
|
||||
|
||||
let cfg = &self.config;
|
||||
let (t, n_tx, n_rx, n_sc) =
|
||||
(cfg.window_frames, cfg.num_antennas_tx, cfg.num_antennas_rx, cfg.num_subcarriers);
|
||||
|
||||
let amplitude = Array4::from_shape_fn((t, n_tx, n_rx, n_sc), |(frame, tx, rx, k)| {
|
||||
self.amp_value(idx, frame, tx, rx, k)
|
||||
});
|
||||
|
||||
let phase = Array4::from_shape_fn((t, n_tx, n_rx, n_sc), |(frame, tx, rx, k)| {
|
||||
self.phase_value(idx, frame, tx, rx, k)
|
||||
});
|
||||
|
||||
let mut keypoints = Array2::zeros((cfg.num_keypoints, 2));
|
||||
let mut keypoint_visibility = Array1::zeros(cfg.num_keypoints);
|
||||
for j in 0..cfg.num_keypoints {
|
||||
let (x, y) = self.keypoint_xy(idx, j);
|
||||
// Clamp to [0, 1] to keep coordinates valid.
|
||||
keypoints[[j, 0]] = x.clamp(0.0, 1.0);
|
||||
keypoints[[j, 1]] = y.clamp(0.0, 1.0);
|
||||
// All joints are visible in the synthetic model.
|
||||
keypoint_visibility[j] = 2.0;
|
||||
}
|
||||
|
||||
Ok(CsiSample {
|
||||
amplitude,
|
||||
phase,
|
||||
keypoints,
|
||||
keypoint_visibility,
|
||||
subject_id: 0,
|
||||
action_id: 0,
|
||||
frame_id: idx as u64,
|
||||
})
|
||||
}
|
||||
|
||||
fn name(&self) -> &str {
|
||||
"SyntheticCsiDataset"
|
||||
}
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// DatasetError
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
/// Errors produced by dataset operations.
|
||||
#[derive(Debug, Error)]
|
||||
pub enum DatasetError {
|
||||
/// Requested index is outside the valid range.
|
||||
#[error("Index {idx} out of bounds (dataset has {len} samples)")]
|
||||
IndexOutOfBounds { idx: usize, len: usize },
|
||||
|
||||
/// An underlying file-system error occurred.
|
||||
#[error("IO error: {0}")]
|
||||
Io(#[from] std::io::Error),
|
||||
|
||||
/// The file exists but does not match the expected format.
|
||||
#[error("File format error: {0}")]
|
||||
Format(String),
|
||||
|
||||
/// The loaded array has a different subcarrier count than required.
|
||||
#[error("Subcarrier count mismatch: expected {expected}, got {actual}")]
|
||||
SubcarrierMismatch { expected: usize, actual: usize },
|
||||
|
||||
/// The specified root directory does not exist.
|
||||
#[error("Directory not found: {path}")]
|
||||
DirectoryNotFound { path: String },
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------------
|
||||
// Tests
|
||||
// ---------------------------------------------------------------------------
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use approx::assert_abs_diff_eq;
|
||||
|
||||
// ----- SyntheticCsiDataset --------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn synthetic_sample_shapes() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(10, cfg.clone());
|
||||
let s = ds.get(0).unwrap();
|
||||
|
||||
assert_eq!(s.amplitude.shape(), &[cfg.window_frames, cfg.num_antennas_tx, cfg.num_antennas_rx, cfg.num_subcarriers]);
|
||||
assert_eq!(s.phase.shape(), &[cfg.window_frames, cfg.num_antennas_tx, cfg.num_antennas_rx, cfg.num_subcarriers]);
|
||||
assert_eq!(s.keypoints.shape(), &[cfg.num_keypoints, 2]);
|
||||
assert_eq!(s.keypoint_visibility.shape(), &[cfg.num_keypoints]);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn synthetic_is_deterministic() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(10, cfg);
|
||||
let s0a = ds.get(3).unwrap();
|
||||
let s0b = ds.get(3).unwrap();
|
||||
assert_abs_diff_eq!(s0a.amplitude[[0, 0, 0, 0]], s0b.amplitude[[0, 0, 0, 0]], epsilon = 1e-7);
|
||||
assert_abs_diff_eq!(s0a.keypoints[[5, 0]], s0b.keypoints[[5, 0]], epsilon = 1e-7);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn synthetic_different_indices_differ() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(10, cfg);
|
||||
let s0 = ds.get(0).unwrap();
|
||||
let s1 = ds.get(1).unwrap();
|
||||
// The sinusoidal model ensures different idx gives different values.
|
||||
assert!((s0.amplitude[[0, 0, 0, 0]] - s1.amplitude[[0, 0, 0, 0]]).abs() > 1e-6);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn synthetic_out_of_bounds() {
|
||||
let ds = SyntheticCsiDataset::new(5, SyntheticConfig::default());
|
||||
assert!(matches!(ds.get(5), Err(DatasetError::IndexOutOfBounds { idx: 5, len: 5 })));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn synthetic_amplitude_in_valid_range() {
|
||||
// Model: 0.5 ± 0.3, so all values in [0.2, 0.8]
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(4, cfg);
|
||||
for idx in 0..4 {
|
||||
let s = ds.get(idx).unwrap();
|
||||
for &v in s.amplitude.iter() {
|
||||
assert!(v >= 0.19 && v <= 0.81, "amplitude {v} out of [0.2, 0.8]");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn synthetic_keypoints_in_unit_square() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(8, cfg);
|
||||
for idx in 0..8 {
|
||||
let s = ds.get(idx).unwrap();
|
||||
for kp in s.keypoints.outer_iter() {
|
||||
assert!(kp[0] >= 0.0 && kp[0] <= 1.0, "x={} out of [0,1]", kp[0]);
|
||||
assert!(kp[1] >= 0.0 && kp[1] <= 1.0, "y={} out of [0,1]", kp[1]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn synthetic_all_joints_visible() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(3, cfg.clone());
|
||||
let s = ds.get(0).unwrap();
|
||||
assert!(s.keypoint_visibility.iter().all(|&v| (v - 2.0).abs() < 1e-6));
|
||||
}
|
||||
|
||||
// ----- DataLoader -------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn dataloader_num_batches() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(10, cfg);
|
||||
// 10 samples, batch_size=3 → ceil(10/3) = 4
|
||||
let dl = DataLoader::new(&ds, 3, false, 42);
|
||||
assert_eq!(dl.num_batches(), 4);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn dataloader_iterates_all_samples_no_shuffle() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(10, cfg);
|
||||
let dl = DataLoader::new(&ds, 3, false, 42);
|
||||
let total: usize = dl.iter().map(|b| b.len()).sum();
|
||||
assert_eq!(total, 10);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn dataloader_iterates_all_samples_shuffle() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(17, cfg);
|
||||
let dl = DataLoader::new(&ds, 4, true, 42);
|
||||
let total: usize = dl.iter().map(|b| b.len()).sum();
|
||||
assert_eq!(total, 17);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn dataloader_shuffle_is_deterministic() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(20, cfg);
|
||||
let dl1 = DataLoader::new(&ds, 5, true, 99);
|
||||
let dl2 = DataLoader::new(&ds, 5, true, 99);
|
||||
let ids1: Vec<u64> = dl1.iter().flatten().map(|s| s.frame_id).collect();
|
||||
let ids2: Vec<u64> = dl2.iter().flatten().map(|s| s.frame_id).collect();
|
||||
assert_eq!(ids1, ids2);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn dataloader_different_seeds_differ() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(20, cfg);
|
||||
let dl1 = DataLoader::new(&ds, 20, true, 1);
|
||||
let dl2 = DataLoader::new(&ds, 20, true, 2);
|
||||
let ids1: Vec<u64> = dl1.iter().flatten().map(|s| s.frame_id).collect();
|
||||
let ids2: Vec<u64> = dl2.iter().flatten().map(|s| s.frame_id).collect();
|
||||
assert_ne!(ids1, ids2, "different seeds should produce different orders");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn dataloader_empty_dataset() {
|
||||
let cfg = SyntheticConfig::default();
|
||||
let ds = SyntheticCsiDataset::new(0, cfg);
|
||||
let dl = DataLoader::new(&ds, 4, false, 42);
|
||||
assert_eq!(dl.num_batches(), 0);
|
||||
assert_eq!(dl.iter().count(), 0);
|
||||
}
|
||||
|
||||
// ----- Helpers ----------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn parse_id_suffix_works() {
|
||||
assert_eq!(parse_id_suffix("S01"), Some(1));
|
||||
assert_eq!(parse_id_suffix("A12"), Some(12));
|
||||
assert_eq!(parse_id_suffix("foo"), None);
|
||||
assert_eq!(parse_id_suffix("S"), None);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn xorshift_shuffle_is_permutation() {
|
||||
let mut indices: Vec<usize> = (0..20).collect();
|
||||
xorshift_shuffle(&mut indices, 42);
|
||||
let mut sorted = indices.clone();
|
||||
sorted.sort_unstable();
|
||||
assert_eq!(sorted, (0..20).collect::<Vec<_>>());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn xorshift_shuffle_is_deterministic() {
|
||||
let mut a: Vec<usize> = (0..20).collect();
|
||||
let mut b: Vec<usize> = (0..20).collect();
|
||||
xorshift_shuffle(&mut a, 123);
|
||||
xorshift_shuffle(&mut b, 123);
|
||||
assert_eq!(a, b);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user