FHWS/museumLoc
Archived
3
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Added 3D boxKDE

Browse Source
This commit is contained in:
Markus Bullmann
2018-07-31 15:36:18 +02:00
parent 5d2216f205
commit 3aaa470422
3 changed files with 16 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
Settings.h
View File

@@ -38,9 +38,15 @@ namespace Settings {
} }
namespace KDE { namespace KDE {
const Point2 bandwidth(100,100); const Point2 bandwidth(1,1);
const float gridSize = 0.2;
} }
namespace KDE3D {
const Point3 bandwidth(1, 1, 1);
const Point3 gridSize(0.2, 0.2, 1); // in meter
}
//const GridPoint destination = GridPoint(70*100, 35*100, 0*100); // use destination //const GridPoint destination = GridPoint(70*100, 35*100, 0*100); // use destination
const GridPoint destination = GridPoint(0,0,0); // do not use destination const GridPoint destination = GridPoint(0,0,0); // do not use destination

5
main.cpp
View File

@@ -122,9 +122,10 @@ Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std::string
//auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>(); //auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>();
auto resample = std::make_unique<SMC::ParticleFilterResamplingSimpleImpoverishment<MyState, MyNavMeshTriangle>>(); auto resample = std::make_unique<SMC::ParticleFilterResamplingSimpleImpoverishment<MyState, MyNavMeshTriangle>>();
//auto estimate = std::make_unique<SMC::ParticleFilterEstimationBoxKDE<MyState>>(map, 0.2, Point2(1,1)); //auto estimate = std::make_unique<SMC::ParticleFilterEstimationBoxKDE<MyState>>(map, Settings::KDE::gridSize, Settings::KDE::bandwidth);
//auto estimate = std::make_unique<SMC::ParticleFilterEstimationWeightedAverage<MyState>>(); //auto estimate = std::make_unique<SMC::ParticleFilterEstimationWeightedAverage<MyState>>();
auto estimate = std::make_unique<SMC::ParticleFilterEstimationMax<MyState>>(); //auto estimate = std::make_unique<SMC::ParticleFilterEstimationMax<MyState>>();
auto estimate = std::make_unique<SMC::ParticleFilterEstimationBoxKDE3D<MyState>>(map, Settings::KDE3D::gridSize, Settings::KDE3D::bandwidth);
// setup // setup
MyFilter pf(numParticles, std::move(init)); MyFilter pf(numParticles, std::move(init));

6
navMesh/filter.h
View File

@@ -14,6 +14,7 @@
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingSimple.h> #include <Indoor/smc/filtering/resampling/ParticleFilterResamplingSimple.h>
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingKLD.h> #include <Indoor/smc/filtering/resampling/ParticleFilterResamplingKLD.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationBoxKDE.h> #include <Indoor/smc/filtering/estimation/ParticleFilterEstimationBoxKDE.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationBoxKDE3D.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationWeightedAverage.h> #include <Indoor/smc/filtering/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationMax.h> #include <Indoor/smc/filtering/estimation/ParticleFilterEstimationMax.h>
#include <Indoor/navMesh/walk/NavMeshWalkSimple.h> #include <Indoor/navMesh/walk/NavMeshWalkSimple.h>
@@ -61,6 +62,11 @@ struct MyState {
return pos.pos.y; return pos.pos.y;
} }
float getZ() {
return pos.pos.z;
}
float getBinValue(const int dim) const { float getBinValue(const int dim) const {
switch (dim) { switch (dim) {
case 0: return this->pos.pos.x; case 0: return this->pos.pos.x;