FHWS/FtmPrologic
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Markus Bullmann
2019-07-16 14:40:53 +02:00
parent 4415288cda
commit a7571862c6
2 changed files with 55 additions and 32 deletions
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code/main.cpp
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@@ -179,13 +179,13 @@ void exportFtmValues(Offline::FileReader& fr, Interpolator<uint64_t, Point3>& gt
static float kalman_procNoiseDistStdDev = 1.2f; // standard deviation of distance for process noise
static float kalman_procNoiseVelStdDev = 0.1f; // standard deviation of velocity for process noise
static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std::string folder) {
static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std::string folder) {
// reading file
std::string currDir = std::filesystem::current_path().string();
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
Offline::FileReader fr(setup.training[numFile]);
Offline::FileReader fr(setup.training[walkIdx]);
// ground truth
std::vector<int> gtPath = setup.gtPath;
@@ -211,7 +211,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
}
std::ofstream errorFile;
errorFile.open (evalDir.string() + "/" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
errorFile.open (evalDir.string() + "/" + std::to_string(walkIdx) + "_" + std::to_string(t) + ".csv");
// wifi
@@ -221,7 +221,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
kalmanMap->insert({ Settings::NUC3, Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });
kalmanMap->insert({ Settings::NUC4, Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });
std::cout << "Optimal wifi parameters for " << setup.training[numFile] << "\n";
std::cout << "Optimal wifi parameters for " << setup.training[walkIdx] << "\n";
optimizeWifiParameters(fr, gtInterpolator);
// mesh
@@ -397,6 +397,8 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
//dbg.setTimeInMinute(static_cast<int>(ts.sec()) / 60, static_cast<int>(static_cast<int>(ts.sec())%60));
//dbg.draw();
//plot.printOverview("test");
plot.showParticles(pf.getParticles());
plot.setCurEst(est.pos.pos);
plot.setGroundTruth(gtPos);
@@ -407,9 +409,10 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
//plot.splot.getView().setCamera(0, 0);
//plot.splot.getView().setEqualXY(true);
plot.plot();
// plot.plot();
plot.plot();
//plot.closeStream();
//std::this_thread::sleep_for(500ms);
// error calc
@@ -457,7 +460,7 @@ int main(int argc, char** argv)
Stats::Statistics<float> tmp;
std::string evaluationName = "prologic/tmp";
std::vector<std::array<float, 3>> error;
std::ofstream error_out;
error_out.open(Settings::errorDir + evaluationName + "_error_path1" + ".csv", std::ios_base::app);
@@ -467,18 +470,26 @@ int main(int argc, char** argv)
//{
// for (kalman_procNoiseVelStdDev = 0.1f; kalman_procNoiseVelStdDev < 0.5f; kalman_procNoiseVelStdDev += 0.1f)
// {
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));
for (size_t walkIdx = 0; walkIdx < 6; walkIdx++)
{
std::cout << "Executing walk " << walkIdx << "\n";
for (int i = 0; i < 1; ++i)
{
std::cout << "Start of iteration " << i << "\n";
std::cout << kalman_procNoiseDistStdDev << " " << kalman_procNoiseVelStdDev << std::endl;
std::cout << "Iteration " << i << " completed" << std::endl;
tmp = run(Settings::data.CurrentPath, walkIdx, evaluationName);
statsMedian.add(tmp.getMedian());
statsAVG.add(tmp.getAvg());
statsSTD.add(tmp.getStdDev());
statsQuantil.add(tmp.getQuantile(0.75));
std::cout << kalman_procNoiseDistStdDev << " " << kalman_procNoiseVelStdDev << std::endl;
std::cout << "Iteration " << i << " completed" << std::endl;
}
}
}
// error.push_back({{ kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev, statsAVG.getAvg() }});