FHWS/museumLoc
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large merge for kde 3d

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This commit is contained in:
toni
2018-08-01 11:13:53 +02:00
parent 38042f8dad 713494a675
commit ca64256c48
4 changed files with 27 additions and 20 deletions
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7
CMakeLists.txt
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@@ -51,7 +51,12 @@ if ("${CMAKE_GENERATOR}" MATCHES "Visual Studio*")
-D_USE_MATH_DEFINES -D_USE_MATH_DEFINES
-DUNICODE -DUNICODE
-D_UNICODE -D_UNICODE
-DNOGDI
) )
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /permissive-")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++17")
else() else()
# system specific compiler flags # system specific compiler flags
ADD_DEFINITIONS( ADD_DEFINITIONS(
@@ -66,7 +71,7 @@ else()
-fstack-protector-all -fstack-protector-all
-g3 -g3
-O2 #-O2
-march=native -march=native
) )

13
Settings.h
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@@ -9,7 +9,7 @@ namespace Settings {
bool useKLB = false; bool useKLB = false;
const int numParticles = 1000; const int numParticles = 5000;
const int numBSParticles = 50; const int numBSParticles = 50;
namespace IMU { namespace IMU {
@@ -38,13 +38,14 @@ namespace Settings {
} }
namespace KDE { namespace KDE {
const Point2 bandwidth(100,100); const Point2 bandwidth(1,1);
const float gridSize = 0.2;
} }
namespace KDE3D { namespace KDE3D {
const Point3 bandwidth(1, 1, 1); const Point3 bandwidth(1, 1, 1);
const Point3 gridSize(0.2, 0.2, 1); // in meter 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

26
main.cpp
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@@ -171,7 +171,7 @@ Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std::string
auto trans = std::make_unique<MyPFTrans>(mesh, *wifiModel); auto trans = std::make_unique<MyPFTrans>(mesh, *wifiModel);
//auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>(); //auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>();
auto resample = std::make_unique<SMC::ParticleFilterResamplingKDE<MyState, MyNavMeshTriangle>>(mesh, Settings::KDE3D::gridSize, Settings::KDE3D::bandwidth); auto resample = std::make_unique<SMC::ParticleFilterResamplingKDE<MyState, MyNavMeshTriangle>>(&mesh, Settings::KDE3D::gridSize, Settings::KDE3D::bandwidth);
//auto resample = std::make_unique<SMC::ParticleFilterResamplingSimpleImpoverishment<MyState, MyNavMeshTriangle>>(); //auto resample = std::make_unique<SMC::ParticleFilterResamplingSimpleImpoverishment<MyState, MyNavMeshTriangle>>();
//auto resample = std::make_unique<SMC::ParticleFilterResamplingKLD<MyState>>(); //auto resample = std::make_unique<SMC::ParticleFilterResamplingKLD<MyState>>();
@@ -262,11 +262,11 @@ Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std::string
plot.showParticles(pf.getParticles()); plot.showParticles(pf.getParticles());
plot.setCurEst(est.pos.pos); plot.setCurEst(est.pos.pos);
//plot.setGroundTruth(gtPos); plot.setGroundTruth(gtPos);
plot.addEstimationNode(est.pos.pos); plot.addEstimationNode(est.pos.pos);
plot.setActivity((int) act.get()); plot.setActivity((int) act.get());
//plot.plot(); plot.plot();
// error calc // error calc
// float err_m = gtPos.getDistance(est.pos.pos); // float err_m = gtPos.getDistance(est.pos.pos);
@@ -282,15 +282,16 @@ Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std::string
errorFile << ts.ms() << " " << err_m << "\n"; errorFile << ts.ms() << " " << err_m << "\n";
plot.gp << "set terminal png size 1280,720\n"; //stuff for drawing
plot.gp.setOutput("/tmp/videoSparkasse/" + std::to_string(i++) + ".png"); // plot.gp << "set terminal png size 1280,720\n";
// plot.gp.setOutput("/tmp/videoSparkasse/" + std::to_string(i++) + ".png");
int degree = ((30 - i) % 360); // int degree = ((30 - i) % 360);
if (degree < 0){degree += 360;} // if (degree < 0){degree += 360;}
plot.gp << "set view 63,"<< degree << "\n"; // plot.gp << "set view 63,"<< degree << "\n";
plot.gp << "set autoscale xy\n"; // plot.gp << "set autoscale xy\n";
plot.gp << "set autoscale z\n"; // plot.gp << "set autoscale z\n";
plot.plot(); // plot.plot();
} }
} }
@@ -357,8 +358,7 @@ int main(int argc, char** argv) {
Stats::Statistics<float> statsQuantil; Stats::Statistics<float> statsQuantil;
Stats::Statistics<float> tmp; Stats::Statistics<float> tmp;
//Path2_Museum_KDE_SimpleResampling std::string evaluationName = "museum/tmp";
std::string evaluationName = "museum/videoSparkasse";
for(int i = 0; i < 1; ++i){ for(int i = 0; i < 1; ++i){

1
navMesh/filter.h
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@@ -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>