Added more paths with optimized parameters

code/Settings.h

@@ -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 Path1_1 = {
-        const DataSetup CurrentPath = Path1;
+            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;
 

code/filter.h

@@ -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;
 

code/main.cpp

@@ -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);
+    mainFtm(argc, argv);
-    //return 0;
+    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 i = 0; i < 2; ++i){
-        for(int j = 0; j < 1; ++j){
+        
-            tmp = run(Settings::data.CurrentPath, j, evaluationName);
+        tmp = run(Settings::data.CurrentPath, 0, evaluationName);
-            statsMedian.add(tmp.getMedian());
+        statsMedian.add(tmp.getMedian());
-            statsAVG.add(tmp.getAvg());
+        statsAVG.add(tmp.getAvg());
-            statsSTD.add(tmp.getStdDev());
+        statsSTD.add(tmp.getStdDev());
-            statsQuantil.add(tmp.getQuantile(0.75));
+        statsQuantil.add(tmp.getQuantile(0.75));       
-        }
 
         std::cout << "Iteration " << i << " completed" << std::endl;
     }

map/map2_ap_path2.xml

@@ -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>