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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
View File

@@ -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
View File

@@ -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
View File

@@ -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;
}