FHWS/Fusion2016
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fixed baraomter issue (skip first few readings due to sensor errors)

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added new eval using shortest-path + plotting
removed compiler warnings for clean-code
fixed some minor issues
added new TeX code and new graphics
This commit is contained in:
FrankE
2016-02-07 13:30:04 +01:00
parent 004d1f48fd
commit deb21fc550
23 changed files with 4480 additions and 51 deletions
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48
code/eval/Eval1.h
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@@ -10,6 +10,8 @@
#include <Indoor/grid/walk/GridWalkSimpleControl.h>
#include <Indoor/grid/walk/GridWalkPathControl.h>
#include <Indoor/grid/walk/GridWalkShortestPathControl.h>
#include "DebugShortestPath.h"
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
@@ -106,6 +108,7 @@ public:
// forward
runName = "path2_forward_simple";
BarometerEvaluation::barometerSigma = 0.16;
sr = new SensorReader("./measurements/path2/1/1454345775306.csv");
srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
@@ -121,6 +124,7 @@ public:
// forward
runName = "path2_forward_path";
BarometerEvaluation::barometerSigma = 0.16;
sr = new SensorReader("./measurements/path2/1/1454345775306.csv");
srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
@@ -142,6 +146,7 @@ public:
// forward
runName = "path3_forward_simple";
BarometerEvaluation::barometerSigma = 0.16;
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");
@@ -161,6 +166,7 @@ public:
// forward
runName = "path3_forward_path";
BarometerEvaluation::barometerSigma = 0.16;
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");
@@ -176,6 +182,7 @@ public:
runName = "path4_nexus_simple";
BarometerEvaluation::barometerSigma = 0.16;
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");
@@ -193,6 +200,7 @@ public:
runName = "path4_nexus_importance";
BarometerEvaluation::barometerSigma = 0.05;
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");
@@ -207,6 +215,7 @@ public:
runName = "path4_nexus_path";
BarometerEvaluation::barometerSigma = 0.05;
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");
@@ -218,32 +227,37 @@ public:
}
void path4_nexus_path_b() {
//wifi also uniform dist 0/1 fuer bereiche die OK sind?
//steps hochzaehlen weil mehr als einer in einer transition??
//increase regional average region
runName = "path4_nexus_path";
// void setEval1() {
BarometerEvaluation::barometerSigma = 0.05;
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()]) );
DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
void bergwerk_path1_nexus_simple() {
// // 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) );
runName = "bergwerk_path1_nexus_simple";
// // 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)) );
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
// // 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)));
GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
}
// }
};