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added new tex comments/details

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worked on evaluation
stair sanitizing
added stair-plotting (for debug)
This commit is contained in:
FrankE
2016-02-06 15:06:47 +01:00
parent 716b004f3c
commit 004d1f48fd
11 changed files with 452 additions and 107 deletions
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264
code/eval/Eval1.h
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@@ -27,72 +27,10 @@ public:
pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
std::vector<int> wp = path1;// std::reverse(wp.begin(), wp.end());
MyGridNode& start = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.front()]) );
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.back()]) );
//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
//GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
//GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
//GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
// path1
sr = new SensorReader("./measurements/path1/1/1454345312844.csv"); // forward
srt = new SensorReaderTurn("./measurements/path1/1/Turns.txt");
srs = new SensorReaderStep("./measurements/path1/1/Steps2.txt");
// sr = new SensorReader("./measurements/path1/2/1454345421125.csv"); // backward
// srt = new SensorReaderTurn("./measurements/path1/2/Turns.txt");
// srs = new SensorReaderStep("./measurements/path1/2/Steps2.txt");
// path2
// sr = new SensorReader("./measurements/path2/1/1454345775306.csv"); // forward
// srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
// srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
//sr = new SensorReader("./measurements/path2/2/1454346071347.csv"); // backward
//srt = new SensorReaderTurn("./measurements/path2/2/Turns.txt");
//srs = new SensorReaderStep("./measurements/path2/2/Steps2.txt");
// path3
// sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
// srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
// srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
// sr = new SensorReader("./measurements/path3/2/1454345622819.csv"); // backward
// srt = new SensorReaderTurn("./measurements/path3/2/Turns.txt");
// srs = new SensorReaderStep("./measurements/path3/2/Steps2.txt");
// path4
// sr = new SensorReader("./measurements/path4/1454595382218.csv"); // forward
// srt = new SensorReaderTurn("./measurements/path4/Turns.txt");
// srs = new SensorReaderStep("./measurements/path4/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, wp);
}
void setEvalFails() {
}
//wifi also uniform dist 0/1 fuer bereiche die OK sind?
//steps hochzaehlen weil mehr als einer in einer transition??
//increase regional average region
void setEval1() {
runName = "TODO";
// the particle filter's evaluation method
std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
eval.get()->setUsage(true, true, true, true, true); // TODO: STEP TURN
eval.get()->setUsage(true, true, true, true, true);
pf->setEvaluation( std::move(eval) );
// resampling step?
@@ -105,8 +43,208 @@ public:
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
// std::vector<int> wp = path2;// std::reverse(wp.begin(), wp.end());
// MyGridNode& start = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.front()]) );
// MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.back()]) );
// //GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
// //GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
// //GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
// //GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
// //GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
// GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
// pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
// // path1
//// sr = new SensorReader("./measurements/path1/1/1454345312844.csv"); // forward
//// srt = new SensorReaderTurn("./measurements/path1/1/Turns.txt");
//// srs = new SensorReaderStep("./measurements/path1/1/Steps2.txt");
//// sr = new SensorReader("./measurements/path1/2/1454345421125.csv"); // backward
//// srt = new SensorReaderTurn("./measurements/path1/2/Turns.txt");
//// srs = new SensorReaderStep("./measurements/path1/2/Steps2.txt");
// // path2
// sr = new SensorReader("./measurements/path2/1/1454345775306.csv"); // forward
// srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
// srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
// //sr = new SensorReader("./measurements/path2/2/1454346071347.csv"); // backward
// //srt = new SensorReaderTurn("./measurements/path2/2/Turns.txt");
// //srs = new SensorReaderStep("./measurements/path2/2/Steps2.txt");
// // path3
//// sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
//// srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
//// srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
//// sr = new SensorReader("./measurements/path3/2/1454345622819.csv"); // backward
//// srt = new SensorReaderTurn("./measurements/path3/2/Turns.txt");
//// srs = new SensorReaderStep("./measurements/path3/2/Steps2.txt");
// // path4
//// sr = new SensorReader("./measurements/path4/1454595382218.csv"); // forward
//// srt = new SensorReaderTurn("./measurements/path4/Turns.txt");
//// srs = new SensorReaderStep("./measurements/path4/Steps2.txt");
// gtw = getGroundTruthWay(*sr, floors.gtwp, wp);
}
void setEvalFails() {
}
/**
* starting with bad barometer readings. takes some time to move upwards
* will be fixed by using the path
*/
void path2_forward_simple() {
// forward
runName = "path2_forward_simple";
sr = new SensorReader("./measurements/path2/1/1454345775306.csv");
srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path2);
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void path2_forward_path() {
// forward
runName = "path2_forward_path";
sr = new SensorReader("./measurements/path2/1/1454345775306.csv");
srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path2);
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path2.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
// TODO: plot grid-nodes for stairs for the paper (also look at z-transitions. some have NO x/y change even though they should have!)
void path3_forward_simple() {
// forward
runName = "path3_forward_simple";
sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path3);
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void path3_forward_path() {
// looks like the left stairs here are NOT working as expected?!
// plot them
// look at the probability-draw, maybe there is an issue there
// forward
runName = "path3_forward_path";
sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path3);
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path3.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void path4_nexus_simple() {
runName = "path4_nexus_simple";
sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
// remove importance
for (auto& n : grid) {n.imp = 1;}
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void path4_nexus_imp() {
runName = "path4_nexus_importance";
sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void path4_nexus_path() {
runName = "path4_nexus_path";
sr = new SensorReader("./measurements/path4/nexus/1454695040555.csv"); // forward
srt = new SensorReaderTurn("./measurements/path4/nexus/Turns.txt");
srs = new SensorReaderStep("./measurements/path4/nexus/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path4dbl);
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
//wifi also uniform dist 0/1 fuer bereiche die OK sind?
//steps hochzaehlen weil mehr als einer in einer transition??
//increase regional average region
// void setEval1() {
// // the particle filter's evaluation method
// std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
// eval.get()->setUsage(true, true, true, true, true); // TODO: STEP TURN
// pf->setEvaluation( std::move(eval) );
// // resampling step?
// pf->setNEffThreshold(1.0);
// pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
// //pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );
// // state estimation step
// pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
// //pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
// //pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
// }
};
#endif // EVAL1_H