From 5d2216f2050299f9a1b6eb35eb169236be93a577 Mon Sep 17 00:00:00 2001
From: Markus Bullmann <markus.bullmann@fhws.de>
Date: Tue, 31 Jul 2018 15:36:01 +0200
Subject: [PATCH 1/2] Added some MSVC compiler switches

---
 CMakeLists.txt | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 712531c..4b21660 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,7 +51,12 @@ if ("${CMAKE_GENERATOR}" MATCHES "Visual Studio*")
 		-D_USE_MATH_DEFINES
 		-DUNICODE
 		-D_UNICODE
+		-DNOGDI
 	)
+	
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /permissive-")
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus")
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++17")	
 else()	
 	# system specific compiler flags
 	ADD_DEFINITIONS(

From 3aaa4704223e1bf48583e5840e8713abca1cf38c Mon Sep 17 00:00:00 2001
From: Markus Bullmann <markus.bullmann@fhws.de>
Date: Tue, 31 Jul 2018 15:36:18 +0200
Subject: [PATCH 2/2] Added 3D boxKDE

---
 Settings.h       | 8 +++++++-
 main.cpp         | 5 +++--
 navMesh/filter.h | 6 ++++++
 3 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/Settings.h b/Settings.h
index 20a8468..1a9d43e 100644
--- a/Settings.h
+++ b/Settings.h
@@ -38,9 +38,15 @@ namespace Settings {
     }
 
     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(0,0,0);							// do not use destination
 
diff --git a/main.cpp b/main.cpp
index eddb18c..6b3fe5b 100755
--- a/main.cpp
+++ b/main.cpp
@@ -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::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::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
     MyFilter pf(numParticles, std::move(init));
diff --git a/navMesh/filter.h b/navMesh/filter.h
index f7b65fe..ef306de 100644
--- a/navMesh/filter.h
+++ b/navMesh/filter.h
@@ -14,6 +14,7 @@
 #include <Indoor/smc/filtering/resampling/ParticleFilterResamplingSimple.h>
 #include <Indoor/smc/filtering/resampling/ParticleFilterResamplingKLD.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/ParticleFilterEstimationMax.h>
 #include <Indoor/navMesh/walk/NavMeshWalkSimple.h>
@@ -61,6 +62,11 @@ struct MyState {
         return pos.pos.y;
     }
 
+
+	float getZ() {
+		return pos.pos.z;
+	}
+
     float getBinValue(const int dim) const {
         switch (dim) {
             case 0: return this->pos.pos.x;