FHWS/IPIN2017
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added kld with parzen and nv distribution

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added new testfiles
fixed plot
fixed numerical errors
This commit is contained in:
toni
2017-03-23 19:50:33 +01:00
parent 48566b79fc
commit 212573cba2
5 changed files with 215 additions and 84 deletions
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4
code/filter/Logic.h
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@@ -190,13 +190,13 @@ struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
const double pWifi = getWIFI(observation, wifiObs, p.state.position);
const double pBaroPressure = getBaroPressure(observation, p.state.relativePressure);
const double pBeacon = getBEACON(observation, p.state.position);
//const double pBeacon = getBEACON(observation, p.state.position);
//small checks
_assertNotNAN(pWifi, "Wifi prob is nan");
_assertNot0(pBaroPressure,"pBaroPressure is null");
const double prob = pBaroPressure * pBeacon * pWifi;
const double prob = pBaroPressure * pWifi;
p.weight = prob;
sum += (prob);

2
code/filter/Structs.h
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@@ -10,6 +10,7 @@
#include <Indoor/floorplan/v2/Floorplan.h>
#include <Indoor/floorplan/v2/FloorplanHelper.h>
#include <Indoor/grid/factory/v2/GridNodeImportance.h>
#include <Indoor/math/distribution/KernelDensity.h>
#include <Indoor/grid/walk/v2/GridWalker.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleHeading.h>
@@ -25,7 +26,6 @@ struct MyState : public WalkState, public WalkStateHeading, public WalkStateSpre
GridPoint positionOld;
MyState() : WalkState(GridPoint(0,0,0)), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), relativePressure(0) {;}
MyState(GridPoint pos) : WalkState(pos), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), relativePressure(0) {;}