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Added more paths with optimized parameters

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This commit is contained in:
Markus Bullmann
2019-06-25 14:02:26 +02:00
parent 1387af5da9
commit 2c4d0beacc
34 changed files with 2976226 additions and 17 deletions
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81
code/Settings.h
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@@ -133,6 +133,8 @@ namespace Settings {
},
{ 0, 1, 2, 3 }
};
// 1 Path: U von TR nach TD und zur<75>ck;
const DataSetup Path1 = {
mapDir + "map2_ap_path1.xml",
{
@@ -146,8 +148,83 @@ namespace Settings {
},
{ 1, 2, 6, 7, 6, 2, 1 }
};
const DataSetup CurrentPath = Path1;
const DataSetup Path1_1 = {
mapDir + "map2_ap_path1.xml",
{
dataDir + "Pixel2/1560154188048_2_5.csv",
},
{
{ NUC1, {1, { 8.1, 18.7, 0.8}, 2.25, 0, 10.0f} }, // NUC 1
{ NUC2, {2, { 8.4, 27.3, 0.8}, 3.25, 0, 10.0f} }, // NUC 2
{ NUC3, {3, {21.3, 19.3, 0.8}, 2.50, 0, 10.0f} }, // NUC 3
{ NUC4, {4, {20.6, 26.8, 0.8}, 3.00, 0, 10.0f} }, // NUC 4
},
{ 1, 2, 6, 7, 6, 2, 1 }
};
// 2 Path: Wie 2 nur von TD zu TR
const DataSetup Path2 = {
mapDir + "map2_ap_path1.xml",
{
dataDir + "Pixel2/path2/1560154622883_3_1.csv",
},
{
{ NUC1, {1, { 8.1, 18.7, 0.8}, 1.50, 0, 3.0f} }, // NUC 1
{ NUC2, {2, { 8.4, 27.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 2
{ NUC3, {3, {21.3, 19.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 3
{ NUC4, {4, {20.6, 26.8, 0.8}, 2.00, 0, 3.0f} }, // NUC 4
},
{ 7, 6, 2, 1, 2, 6, 7 }
};
// 3 Path: U von TR nach TD; 4 mal das U
const DataSetup Path3 = {
mapDir + "map2_ap_path2.xml",
{
dataDir + "Pixel2/path3/1560155227376_4_1.csv",
},
{
{ NUC1, {1, { 8.1, 18.7, 0.8}, 1.25, 0, 3.0f} }, // NUC 1
{ NUC2, {2, { 8.4, 27.3, 0.8}, 2.00, 0, 3.0f} }, // NUC 2
{ NUC3, {3, {21.3, 19.3, 0.8}, 1.75, 0, 3.0f} }, // NUC 3
{ NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 0, 3.0f} }, // NUC 4
},
{ 1, 2, 6, 7, 6, 2, 1, 2, 6, 7, 6, 2, 1 }
};
// 4 Path: In R<>umen
const DataSetup Path4 = {
mapDir + "map2_ap_path2.xml",
{
dataDir + "Pixel2/path4/1560156876457_5_1.csv",
},
{
{ NUC1, {1, { 8.1, 18.7, 0.8}, 1.50, 0, 3.0f} }, // NUC 1
{ NUC2, {2, { 8.4, 27.3, 0.8}, 1.25, 0, 3.0f} }, // NUC 2
{ NUC3, {3, {21.3, 19.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 3
{ NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 0, 3.0f} }, // NUC 4
},
{ 0, 1, 2, 3, 2, 6, 5, 6, 7, 8 }
};
// 5 Path: In R<>umen extendend
const DataSetup Path5 = {
mapDir + "map2_ap_path2.xml",
{
dataDir + "Pixel2/path5/1560158675012_6_3.csv",
},
{
{ NUC1, {1, { 8.1, 18.7, 0.8}, 2.00, 0, 3.0f} }, // NUC 1
{ NUC2, {2, { 8.4, 27.3, 0.8}, 1.25, 0, 3.0f} }, // NUC 2
{ NUC3, {3, {21.3, 19.3, 0.8}, 2.75, 0, 3.0f} }, // NUC 3
{ NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 0, 3.0f} }, // NUC 4
},
{ 0, 1, 2, 11, 10, 9, 10, 11, 2, 6, 5, 12, 13, 12, 5, 6, 7, 8 }
};
const DataSetup CurrentPath = Path3;
} data;

6
code/filter.h
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@@ -22,7 +22,7 @@
//#include <Indoor/navMesh/walk/NavMeshWalkWifiRegional.h>
//#include <Indoor/navMesh/walk/NavMeshWalkUnblockable.h>
//#include <Indoor/navMesh/walk/NavMeshWalkKLD.h>
//#include <Indoor/navMesh/walk/NavMeshWalkSinkOrSwim.h>
#include <Indoor/navMesh/walk/NavMeshWalkSinkOrSwim.h>
//#include <Indoor/navMesh/NavMeshRandom.h>
#include <Indoor/sensors/radio/model/LogDistanceModel.h>
@@ -182,11 +182,11 @@ class MyPFTransStatic : public SMC::ParticleFilterTransition<MyState, MyControl>
class MyPFTrans : public SMC::ParticleFilterTransition<MyState, MyControl> {
using MyNavMeshWalk = NM::NavMeshWalkSimple<MyNavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkSimple<MyNavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkWifiRegional<MyNavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkUnblockable<MyNavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkKLD<MyNavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkSinkOrSwim<MyNavMeshTriangle>;
using MyNavMeshWalk = NM::NavMeshWalkSinkOrSwim<MyNavMeshTriangle>;
MyNavMeshWalk walker;

23
code/main.cpp
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@@ -100,6 +100,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
Plotty plot(map);
plot.buildFloorplan();
plot.setGroundTruth(gtPath);
plot.setView(30, 0);
plot.plot();
// particle-filter
@@ -230,9 +231,8 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
plot.addEstimationNode(est.pos.pos);
plot.setActivity((int) act.get());
//plot.setView(0, 0);
//plot.splot.getView().setEnabled(false);
plot.splot.getView().setCamera(0, 0);
//plot.splot.getView().setCamera(0, 0);
//plot.splot.getView().setEqualXY(true);
plot.plot();
@@ -275,8 +275,8 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
int main(int argc, char** argv)
{
//mainFtm(argc, argv);
//return 0;
mainFtm(argc, argv);
return 0;
Stats::Statistics<float> statsAVG;
@@ -287,14 +287,13 @@ int main(int argc, char** argv)
std::string evaluationName = "prologic/tmp";
for(int i = 0; i < 1; ++i){
for(int j = 0; j < 1; ++j){
tmp = run(Settings::data.CurrentPath, j, evaluationName);
statsMedian.add(tmp.getMedian());
statsAVG.add(tmp.getAvg());
statsSTD.add(tmp.getStdDev());
statsQuantil.add(tmp.getQuantile(0.75));
}
for(int i = 0; i < 2; ++i){
tmp = run(Settings::data.CurrentPath, 0, evaluationName);
statsMedian.add(tmp.getMedian());
statsAVG.add(tmp.getAvg());
statsSTD.add(tmp.getStdDev());
statsQuantil.add(tmp.getQuantile(0.75));
std::cout << "Iteration " << i << " completed" << std::endl;
}

92
map/map2_ap_path2.xml Normal file
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@@ -0,0 +1,92 @@
<map width="0" depth="1.4012985e-45">
<earthReg>
<correspondences/>
</earthReg>
<floors>
<floor atHeight="0" height="2.8" name="OG">
<outline>
<polygon name="" method="0" outdoor="false">
<point x="4.9200001" y="28.9"/>
<point x="4.9200001" y="16.6"/>
<point x="14.04" y="16.6"/>
<point x="14.04" y="17.74"/>
<point x="18.08" y="17.74"/>
<point x="18.08" y="16.6"/>
<point x="23.879999" y="16.6"/>
<point x="23.879999" y="28.9"/>
</polygon>
</outline>
<obstacles>
<wall material="3" type="1" x1="10.679999" y1="24.9" x2="5.2000003" y2="24.9" thickness="0.12">
<door type="1" material="2" x01="0.080291912" width="0.89999998" height="2.0999999" io="true" lr="false"/>
</wall>
<wall material="3" type="1" x1="10.719999" y1="28.619999" x2="10.719999" y2="22.4" thickness="0.12"/>
<wall material="3" type="1" x1="10.719999" y1="22.4" x2="13.54" y2="22.4" thickness="0.18000001"/>
<wall material="3" type="1" x1="5.0799999" y1="28.76" x2="23.719999" y2="28.76" thickness="0.30000001"/>
<wall material="3" type="1" x1="23.719999" y1="28.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
<wall material="3" type="1" x1="18.219999" y1="16.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
<wall material="3" type="1" x1="18.219999" y1="17.9" x2="18.219999" y2="16.76" thickness="0.30000001"/>
<wall material="3" type="1" x1="13.88" y1="17.9" x2="18.219999" y2="17.9" thickness="0.30000001"/>
<wall material="3" type="1" x1="13.88" y1="16.76" x2="13.88" y2="17.9" thickness="0.30000001"/>
<wall material="3" type="1" x1="5.0799999" y1="16.76" x2="13.88" y2="16.76" thickness="0.30000001"/>
<wall material="3" type="1" x1="5.0799999" y1="28.76" x2="5.0799999" y2="16.76" thickness="0.30000001"/>
<wall material="3" type="1" x1="15.259999" y1="22.4" x2="18.08" y2="22.4" thickness="0.2"/>
<wall material="3" type="1" x1="18.08" y1="28.619999" x2="18.08" y2="22.4" thickness="0.12"/>
<wall material="3" type="1" x1="9.0999994" y1="24.859999" x2="9.0999994" y2="20.799999" thickness="0.12">
<door type="1" material="2" x01="0.85221666" width="0.85000002" height="2.0999999" io="true" lr="true"/>
</wall>
<wall material="3" type="1" x1="5.2199998" y1="20.779999" x2="10.599999" y2="20.779999" thickness="0.12">
<door type="1" material="2" x01="0.93308562" width="0.85000002" height="2.0999999" io="true" lr="true"/>
</wall>
<wall material="3" type="1" x1="16.859999" y1="17.98" x2="16.859999" y2="20.779999" thickness="0.12"/>
<wall material="3" type="1" x1="18.299999" y1="18.059999" x2="18.300001" y2="20.800001" thickness="0.12"/>
<wall material="3" type="1" x1="18.1" y1="24.859999" x2="23.619999" y2="24.859999" thickness="0.12">
<door type="1" material="2" x01="0.083333187" width="0.85000002" height="2.0999999" io="false" lr="false"/>
<door type="1" material="2" x01="0.41666663" width="0.89999998" height="2.0999999" io="true" lr="false"/>
</wall>
<wall material="3" type="1" x1="19.699999" y1="20.82" x2="19.699999" y2="24.859999" thickness="0.12"/>
<wall material="3" type="1" x1="19.699999" y1="22.719999" x2="23.699999" y2="22.719999" thickness="0.12"/>
<wall material="3" type="1" x1="15.66" y1="20.779999" x2="23.68" y2="20.779999" thickness="0.12">
<door type="1" material="2" x01="0.59057063" width="0.89999998" height="2.0999999" io="false" lr="false"/>
<door type="1" material="2" x01="0.36476421" width="0.85000002" height="2.0999999" io="true" lr="false"/>
<door type="1" material="2" x01="0.30769235" width="0.75" height="2.0999999" io="true" lr="true"/>
<door type="1" material="2" x01="0.01736965" width="0.75" height="2.0999999" io="true" lr="false"/>
</wall>
<wall material="1" type="1" x1="10.7" y1="16.9" x2="10.7" y2="20.779999" thickness="0.12"/>
<wall material="1" type="1" x1="10.7" y1="20.779999" x2="15.559999" y2="20.779999" thickness="0.12">
<door type="1" material="2" x01="0.94650221" width="1.1" height="2.0999999" io="true" lr="true"/>
</wall>
<wall material="1" type="1" x1="15.559999" y1="18.039999" x2="15.559999" y2="20.779999" thickness="0.12"/>
</obstacles>
<underlays>
<underlay x="-0" y="0" sx="0.0105" sy="0.0105" name="" file="D:/Source/Navegadors/NavData/2019_06_10_prologicv2/map/Datenplan_OG.png"/>
</underlays>
<pois/>
<gtpoints>
<gtpoint id="1" x="9.8000002" y="25.800001" z="0"/>
<gtpoint id="2" x="9.8000002" y="21.700001" z="0"/>
<gtpoint id="6" x="19" y="21.700001" z="0"/>
<gtpoint id="7" x="19" y="25.700001" z="0"/>
<gtpoint id="0" x="6.5999999" y="25.799999" z="0"/>
<gtpoint id="3" x="9.8999996" y="18.700001" z="0"/>
<gtpoint id="5" x="19" y="18" z="0"/>
<gtpoint id="8" x="21.299999" y="25.700001" z="0"/>
<gtpoint id="9" x="6" y="18.1" z="0"/>
<gtpoint id="10" x="6" y="20" z="0"/>
<gtpoint id="11" x="9.8000002" y="20" z="0"/>
<gtpoint id="12" x="23" y="18" z="0"/>
<gtpoint id="13" x="23" y="19.6" z="0"/>
</gtpoints>
<accesspoints>
<accesspoint name="NUC1" mac="38:de:ad:6d:77:25" x="8.1000004" y="18.700001" z="2" mdl_txp="0" mdl_exp="0" mdl_waf="0"/>
<accesspoint name="NUC2" mac="38:de:ad:6d:60:ff" x="8.4000006" y="27.300001" z="2" mdl_txp="0" mdl_exp="0" mdl_waf="0"/>
<accesspoint name="NUC3" mac="1c:1b:b5:ef:a2:9a" x="21.300001" y="19.300001" z="2" mdl_txp="0" mdl_exp="0" mdl_waf="0"/>
<accesspoint name="NUC4" mac="1c:1b:b5:ec:d1:82" x="20.6" y="26.800001" z="2" mdl_txp="0" mdl_exp="0" mdl_waf="0"/>
</accesspoints>
<beacons/>
<fingerprints/>
<stairs/>
<elevators/>
</floor>
</floors>
</map>

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