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Particle reduced to ftm eval only

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This commit is contained in:
Markus Bullmann
2019-09-25 09:30:16 +02:00
parent 36c64b5032
commit 24bbc56f28
6 changed files with 908 additions and 285 deletions
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76
code/Settings.h
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@@ -95,7 +95,7 @@ namespace Settings {
const std::string dataDir = "../measurements/data/";
const std::string errorDir = "../measurements/error/";
const bool UseKalman = false;
const bool UseKalman = true;
/** describes one dataset (map, training, parameter-estimation, ...) */
@@ -269,7 +269,79 @@ namespace Settings {
{ 0, 1, 2, 11, 10, 9, 10, 11, 2, 6, 5, 12, 13, 12, 5, 6, 7, 8 }
};
const DataSetup CurrentPath = Path5;
// 6 Path: SHL Path 1
const DataSetup Path6 = {
mapDir + "shl.xml",
{
dataDir + "Pixel2/path6/14681054221905_6_1.csv"
},
{
// NUC, ID Pos X Y Z offset loss kalman stddev
{ NUC1, {1, { 54, 46, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 1
{ NUC2, {2, { 45, 37, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 2
{ NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3
{ NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4
},
{ 100, 101, 102, 103, 104, 103, 102, 101, 100 }
};
// 7 Path: SHL Path 2; Versuche mit NUCs in den Räumen war nicht vielversprechend ...
const DataSetup Path7 = {
mapDir + "shl.xml",
{
dataDir + "Pixel2/path7/23388354821394.csv",
dataDir + "Pixel2/path7/23569363647863.csv",
dataDir + "Pixel2/path7/23776390928852.csv",
dataDir + "Pixel2/path7/23938602403553.csv"
},
{
// NUC, ID Pos X Y Z offset loss kalman stddev
{ NUC1, {1, { 54, 46, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 1
{ NUC2, {2, { 45, 37, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 2
{ NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3
{ NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4
},
{ 100, 102, 103, 104, 105, 104, 103, 102, 100 }
};
// 8 Path: Wie SHL Path 2 nur, dass die NUCs im Gang stehen
const DataSetup Path8 = {
mapDir + "shl.xml",
{
dataDir + "Pixel2/path8/25967118530318.csv", // gang
dataDir + "Pixel2/path8/25439520303384.csv", // tür
},
{
// NUC, ID Pos X Y Z offset loss kalman stddev
{ NUC1, {1, { 55, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1
{ NUC2, {2, { 46, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 2
{ NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3
{ NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4
},
{ 100, 102, 103, 104, 105, 104, 103, 102, 100 }
};
// 9 Path: SHL Path 3, NUCs stehen im Gang
const DataSetup Path9 = {
mapDir + "shl_nuc_gang.xml",
{
dataDir + "Pixel2/path9/27911186920065.csv",
dataDir + "Pixel2/path9/28255150484121.csv",
dataDir + "Pixel2/path9/28404719230167.csv",
},
{
// NUC, ID Pos X Y Z offset loss kalman stddev
{ NUC1, {1, { 55, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1
{ NUC2, {2, { 46, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 2
{ NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3
{ NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4
},
{ 200, 201, 203, 104, 204, 205, 206, 207, 206, 208, 209, 210, 211, 212 }
};
const DataSetup CurrentPath = Path8;
} data;