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parameter for normal distirbuation approximation are okay

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toni
2017-04-19 14:40:51 +02:00
parent fdbd984584
commit afc253aebf
4 changed files with 94 additions and 65 deletions
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42
code/main.cpp
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@@ -107,6 +107,7 @@ Floorplan::IndoorMap* MyState::map;
void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPath) {
std::vector<double> kld_data;
std::vector<double> quality_data;
// load the floorplan
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
@@ -169,7 +170,9 @@ void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPa
//std::shared_ptr<K::ParticleFilterInitializer<MyState>> init(new PFInitFixed(grid, GridPoint(1120.0f, 750.0f, 740.0f), 90.0f));
// mode 1
std::shared_ptr<K::ParticleFilterInitializer<MyState>> initMode1(new PFInit(grid, 1));
//std::shared_ptr<K::ParticleFilterInitializer<MyState>> initMode1(new PFInit(grid, 1));
std::shared_ptr<K::ParticleFilterInitializer<MyState>> initMode1(new PFInitFixed(grid, GridPoint(1120.0f, 750.0f, 740.0f), 90.0f, 1));
K::ParticleFilterMixing<MyState, MyControl, MyObs> mode1(Settings::numParticles, initMode1, Settings::Mode1::modeProbability);
mode1.setTransition(std::shared_ptr<PFTrans>(new PFTrans(grid, &ctrl)));
mode1.setEvaluation(std::shared_ptr<PFEval>(new PFEval(WiFiModel, beaconModel, grid)));
@@ -180,7 +183,8 @@ void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPa
modes.push_back(mode1);
// mode 2
std::shared_ptr<K::ParticleFilterInitializer<MyState>> initMode2(new PFInit(grid, 2));
//std::shared_ptr<K::ParticleFilterInitializer<MyState>> initMode2(new PFInit(grid, 2));
std::shared_ptr<K::ParticleFilterInitializer<MyState>> initMode2(new PFInitFixed(grid, GridPoint(1120.0f, 750.0f, 740.0f), 90.0f, 2));
K::ParticleFilterMixing<MyState, MyControl, MyObs> mode2(Settings::numParticles, initMode2, Settings::Mode2::modeProbability);
mode2.setTransition(std::shared_ptr<PFTransSimple>(new PFTransSimple(grid)));
mode2.setEvaluation(std::shared_ptr<PFEval>(new PFEval(WiFiModel, beaconModel, grid)));
@@ -281,6 +285,7 @@ void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPa
} else{
kld_data.push_back(__KLD);
}
quality_data.push_back(__QUALITY);
Point3 estPos = est.position.inMeter();
@@ -313,6 +318,7 @@ void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPa
plot.gp << "set label 1003 at screen 0.02, 0.92 'KLD: " << ":" << kld_data.back() << "'\n";
plot.gp << "set label 1004 at screen 0.90, 0.98 'act:" << obs.activity << "'\n";
plot.gp << "set label 1011 at screen 0.90, 0.10 'Wifi Quality:" << __QUALITY << "'\n";
plot.gp << "set label 1005 at screen 0.90, 0.08 'Prob. Mode1:" << IMMAPF.getModes()[0].getModePosteriorProbability() << "'\n";
plot.gp << "set label 1006 at screen 0.90, 0.06 'Prob. Mode2:" << IMMAPF.getModes()[1].getModePosteriorProbability() << "'\n";
@@ -390,7 +396,7 @@ void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPa
//save as screenshot for klb
std::string path = evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t);
gp << "set terminal png size 1280,720\n";
gp << "set output '" << path << "_shennendistance.png'\n";
gp << "set output '" << path << "klddistance.png'\n";
for(int i=0; i < kld_data.size()-1; ++i){
@@ -404,6 +410,28 @@ void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPa
gp.draw(plotkld);
gp.flush();
//draw wifi quality
K::Gnuplot gpQuality;
K::GnuplotPlot plotquality;
K::GnuplotPlotElementLines linesQuality;
//save as screenshot for wifiquality
std::string pathWifi = evalDir + "/image" + std::to_string(numFile) + "_" + std::to_string(t);
gpQuality << "set terminal png size 1280,720\n";
gpQuality << "set output '" << pathWifi << "wifiquality.png'\n";
for(int i=0; i < quality_data.size()-1; ++i){
K::GnuplotPoint2 p1(i, quality_data[i]);
K::GnuplotPoint2 p2(i+1, quality_data[i+1]);
linesQuality.addSegment(p1, p2);
}
plotquality.add(&linesQuality);
gpQuality.draw(plotquality);
gpQuality.flush();
std::cout << "finished" << std::endl;
sleep(1);
@@ -424,10 +452,12 @@ int main(int argc, char** argv) {
// //run(data.IPIN2017, 4, "ipin2017", Settings::Paths_IPIN2017::path3);
//run(data.IPIN2017, 0, "ipin2017", Settings::Paths_IPIN2017::path1);
run(data.IPIN2017, 1, "ipin2017", Settings::Paths_IPIN2017::path1);
run(data.IPIN2017, 2, "ipin2017", Settings::Paths_IPIN2017::path2);
//run(data.IPIN2017, 3, "ipin2017", Settings::Paths_IPIN2017::path2);
run(data.IPIN2017, 5, "ipin2017", Settings::Paths_IPIN2017::path3);
//run(data.IPIN2017, 1, "ipin2017", Settings::Paths_IPIN2017::path1);
//run(data.IPIN2017, 2, "ipin2017", Settings::Paths_IPIN2017::path2);
//run(data.IPIN2017, 3, "ipin2017", Settings::Paths_IPIN2017::path2);
//run(data.IPIN2017, 4, "ipin2017", Settings::Paths_IPIN2017::path3);
//}