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updates the visualisation

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removed obsolte parts
fixed baromter stuff
worked on eval
added ground-truth
This commit is contained in:
FrankE
2016-01-30 19:50:58 +01:00
parent b2ea3145f4
commit cc899d1c46
18 changed files with 388 additions and 190 deletions
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20
code/toni/BarometerEvaluation.h
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@@ -13,10 +13,10 @@ public:
double getProbability(const MyState& state, const BarometerObservation* obs) const {
return 1;
//return 1;
// //rho_z
// double barometerSigma = 0.3;
double barometerSigma = 0.09;
// //The height of the single floor levels.
// const static double floor_height[3] = {4.1, 3.4, 3.4};
@@ -39,23 +39,23 @@ public:
// }
// else {
// // constant value for sigma if we assume all floors are same in height
// barometerSigma = 0.30 / 1.0; //hPa
// barometerSigma = 0.30 / 1.0; //hPa
// }
// // evaluate the current particle with a normal distribution
// const double barometerProbability = K::NormalDistribution::getProbability(state.hPa, barometerSigma/2, obs->hpa);
const double barometerProbability = K::NormalDistribution::getProbability(state.hPa, barometerSigma, obs->hpa);
// //Just for the visualization. i'm a lazy bastard
// g_BarometerObservation = obs->hpa;
//g_BarometerObservation = obs->hpa;
// assert(barometerProbability == barometerProbability);
// assert(state.hPa == state.hPa);
// assert(obs->hpa == obs->hpa);
assert(barometerProbability == barometerProbability);
assert(state.hPa == state.hPa);
assert(obs->hpa == obs->hpa);
// //std::cout << barometerProbability << std::endl;
// return pow(2.0, barometerProbability);
// //return barometerProbability;
//return pow(2.0, barometerProbability);
return barometerProbability;
}

115
code/toni/BarometerSensorReader.h
View File

@@ -5,25 +5,29 @@
#include "../reader/SensorReader.h"
#include <sstream>
#include <Indoor/math/MovingAVG.h>
//circular_buffer<double> measurementHistory(1000);
class BarometerSensorReader{
private:
circular_buffer<double> measurementHistory;
// circular_buffer<double> measurementHistory;
MovingAVG<float> avg;
public:
BarometerSensorReader(){
if(!USE_STATIC_CIRCULAR_BUFFERING){
//8.33min
measurementHistory.reserve(10000);
}
else{
//30 * 500ms = 1,5s
measurementHistory.reserve(30);
}
BarometerSensorReader(): avg(3) {
// if(!USE_STATIC_CIRCULAR_BUFFERING){
// //8.33min
// measurementHistory.reserve(10000);
// }
// else{
// //30 * 500ms = 1,5s
// measurementHistory.reserve(30);
// }
}
BarometerObservation* readBarometer(const SensorEntry& se) {
@@ -31,52 +35,63 @@ public:
std::string tmp = se.data;
BarometerObservation* obs = new BarometerObservation();
//Read the hPa
double hPa = stod(tmp);
// get the next hPa reading and average it
avg.add(stod(tmp));
const double hPa = avg.get();
// load the measurement at current time into the history
double currentMeasurement = hPa - measurementHistory[0];
// everything realtive to the first measurement
static double first_hPa = 0;
if (avg.getNumUsed() < avg.getSize()) {first_hPa = avg.get();}
if(USE_BAROMETER_SMOOTHING_RC_LOWPASS){
obs->hpa = hPa - first_hPa;
//smoothing with alpha value
if(measurementHistory.size() > 1){
double alpha = 0.1;
double lastMeasurement = measurementHistory[measurementHistory.size() - 1];
currentMeasurement = (alpha * currentMeasurement) + ((1.0 - alpha) * lastMeasurement);
obs->hpa = currentMeasurement;
}else{
obs->hpa = 0;
}
measurementHistory.push_back(currentMeasurement);
}
else if (USE_BAROMETER_SMOOTHING_HEAD_TAIL){
currentMeasurement = hPa;
measurementHistory.push_back(currentMeasurement);
// calculate the relative air pressure by getting the mean of the first and last three entrys of the history
// and subtract them.
if (measurementHistory.size() > 5){
double meanTail = (measurementHistory[0] + measurementHistory[1] + measurementHistory[2]) / 3.0;
double meanHead = (measurementHistory[measurementHistory.size() - 1] + measurementHistory[measurementHistory.size() - 2] + measurementHistory[measurementHistory.size() - 3]) / 3.0;
obs->hpa = meanHead - meanTail;
}
else{
obs->hpa = 0;
}
}
else //no data smoothing
{
measurementHistory.push_back(currentMeasurement);
obs->hpa = currentMeasurement;
}
std::cout << obs->hpa << std::endl;
// done
return obs;
// if(USE_BAROMETER_SMOOTHING_RC_LOWPASS){
// //smoothing with alpha value
// if(measurementHistory.size() > 1){
// double alpha = 0.1;
// double lastMeasurement = measurementHistory[measurementHistory.size() - 1];
// currentMeasurement = (alpha * currentMeasurement) + ((1.0 - alpha) * lastMeasurement);
// obs->hpa = currentMeasurement;
// }else{
// obs->hpa = 0;
// }
// measurementHistory.push_back(currentMeasurement);
// }
// else if (USE_BAROMETER_SMOOTHING_HEAD_TAIL){
// currentMeasurement = hPa;
// measurementHistory.push_back(currentMeasurement);
// // calculate the relative air pressure by getting the mean of the first and last three entrys of the history
// // and subtract them.
// if (measurementHistory.size() > 5){
// double meanTail = (measurementHistory[0] + measurementHistory[1] + measurementHistory[2]) / 3.0;
// double meanHead = (measurementHistory[measurementHistory.size() - 1] + measurementHistory[measurementHistory.size() - 2] + measurementHistory[measurementHistory.size() - 3]) / 3.0;
// obs->hpa = meanHead - meanTail;
// }
// else{
// obs->hpa = 0;
// }
// }
// else //no data smoothing
// {
// measurementHistory.push_back(currentMeasurement);
// obs->hpa = currentMeasurement;
// }
// return obs;
}
//TODO