FHWS/Fusion2016
Archived
3
0
Fork 0
Code Issues 1 Pull Requests Releases Wiki Activity

changed visualisation

Browse Source 
added new eval code for new walkers
improved barometer (moving avg and median)
floorplan-staircase-fixes
disabled step-turn (now part of transition)
added abs-orientation-reader (for testing)
added beacons
This commit is contained in:
FrankE
2016-02-05 20:21:46 +01:00
parent 9e9b6882cd
commit 716b004f3c
15 changed files with 188 additions and 179 deletions
Download Patch File Download Diff File Expand all files Collapse all files

38
code/eval/Eval1.h
View File

@@ -7,7 +7,9 @@
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
#include <Indoor/grid/walk/GridWalkPushForward.h>
#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
#include <Indoor/grid/walk/GridWalkSimpleControl.h>
#include <Indoor/grid/walk/GridWalkPathControl.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
@@ -25,7 +27,7 @@ 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());
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()]) );
@@ -35,21 +37,22 @@ public:
//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");
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/path2/1/1454345775306.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");
@@ -62,11 +65,22 @@ public:
// 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
@@ -87,9 +101,9 @@ public:
//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::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)));
//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
}