FHWS/YASMIN
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Code Issues 12 Pull Requests Releases Wiki Activity

changed number of fingerprint scans

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minor parameter changes
more log lines
added VAP log to UI (debug)
fixed missing wifi timestamp for android live data
This commit is contained in:
FrankE
2016-09-28 15:29:25 +02:00
parent d47322e73b
commit 5ddc455bee
9 changed files with 31 additions and 12 deletions
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8
nav/Filter.h
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@@ -215,11 +215,14 @@ public:
const MyObservation observation = _observation;
// vap-grouping
const int numAP1 = observation.wifi.entries.size();
const WiFiMeasurements wifiObs = vg.group(_observation.wifi);
const int numAP2 = wifiObs.entries.size();
Log::add("Filter", "VAP: " + std::to_string(numAP1) + " -> " + std::to_string(numAP2));
for (K::Particle<MyState>& p : particles) {
// WiFi free
//const double pWiFi = wiFiProbability.getProbability(p.state.position.inMeter()+person, observation.currentTime, vg.group(observation.wifi));
@@ -227,9 +230,12 @@ public:
const MyGridNode& node = grid->getNodeFor(p.state.position);
const double pWiFi = wiFiProbability.getProbability(node, observation.currentTime, wifiObs);
//Log::add("xxx", std::to_string(observation.currentTime.ms()) + "_" + std::to_string(wifiObs.entries[0].ts.ms()));
const double pStair = getStairProb(p, observation.activity);
const double pGPS = 1;
const double prob = pWiFi * pGPS * pStair;
p.weight *= prob; // NOTE: keeps the weight returned by the transition step!
//p.weight = prob; // does NOT keep the weights returned by the transition step
sum += p.weight;