FHWS/Fusion2016
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changed visualisation

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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
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31
code/eval/EvalBase.h
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@@ -27,6 +27,7 @@
#include "../frank/WiFiSensorReader.h"
#include "../frank/BeaconSensorReader.h"
#include "../frank/OrientationSensorReader.h"
class EvalBase {
@@ -57,6 +58,7 @@ protected:
std::vector<int> path1 = {29, 28,27,26,255,25,24,23,22,21,20};
std::vector<int> path2 = {19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
std::vector<int> path3 = {5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
std::vector<int> path4 = {29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44};
public:
@@ -71,6 +73,12 @@ public:
vis.addFloor(floors.f2, floors.h2);
vis.addFloor(floors.f3, floors.h3);
vis.floors.setColorHex("#666666");
vis.groundTruth.setCustomAttr("dashtype 3");
vis.groundTruth.setColorHex("#009900");
vis.gp << "unset cbrange\n";
}
static GridPoint conv(const Point3& p) {
@@ -110,7 +118,7 @@ public:
void run() {
// sensor numbers
const int s_wifi = 8; const int s_beacons = 9; const int s_barometer = 5;
const int s_wifi = 8; const int s_beacons = 9; const int s_barometer = 5; const int s_orientation = 6;
const int s_linearAcceleration = 2;
std::list<TurnObservation> turn_observations;
@@ -198,8 +206,13 @@ public:
}
case s_linearAcceleration:{
baroSensorReader.readVerticalAcceleration(se);
break;
baroSensorReader.readVerticalAcceleration(se);
break;
}
case s_orientation: {
obs.orientation = OrientationSensorReader::read(se);
break;
}
}
@@ -235,7 +248,7 @@ public:
const Point3 curEst = est.pCur;
// error calculation. compare ground-truth to estimation
const int offset = 0; // 750
const int offset = 750;
const Point3 curGT = gtw.getPosAtTime(se.ts - offset);
const Point3 diff = curEst - curGT;
@@ -258,11 +271,17 @@ public:
vis.addEstPath(pathEst);
vis.setEstAndShould(curEst, curGT);
if (obs.barometer != nullptr) {
vis.gp << "set label 112 'baro: " << obs.barometer->hpa << "' at screen 0.1,0.2\n";
}
vis.gp << "set label 111 '" <<ctrl.walked_m << ":" << ctrl.headingChange_rad << "' at screen 0.1,0.1\n";
//vis.gp << "set label 111 '" <<ctrl.walked_m << ":" << obs.orientation.values[0] << "' at screen 0.1,0.1\n";
Point2 p1(0.1, 0.1);
Point2 p2 = p1 + Angle::getPointer(ctrl.headingChange_rad) * 0.1;
vis.gp << "set arrow 111 from screen " << p1.x<<","<<p1.y << " to screen " << p2.x<<","<<p2.y<<"\n";
Point2 p2 = p1 + Angle::getPointer(ctrl.headingChange_rad) * 0.05;
//Point2 p2 = p1 + Angle::getPointer(obs.orientation.values[0]) * 0.05;
vis.gp << "set arrow 999 from screen " << p1.x<<","<<p1.y << " to screen " << p2.x<<","<<p2.y<<"\n";
vis.show();