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Merge branch 'master' of https://git.frank-ebner.de/toni/IPIN2016

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Toni
2016-04-16 21:06:13 +02:00
parent b5e5612f30 f2a31fc151
commit 42a42ce65d
1 changed files with 55 additions and 13 deletions
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68
code/eval/FixedLagEvalBase.h
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@@ -191,6 +191,14 @@ public:
K::Statistics<double> statsSmoothing;
int cnt = 0;
// error per update-step
std::vector<float> errorsNorm;
std::vector<float> errorsSmooth;
// number of updates to skip before starting the smoothing process
const int skip = 35;
//stats file
std::ofstream statsout("/tmp/unsmoothed_" + runName + ".stats");
@@ -286,18 +294,19 @@ public:
pathEst.push_back(curEst);
const float err = diff.length();
errorsNorm.push_back(err);
// skip the first 24 scans due to uniform distribution start
if (++cnt > 35) {
statsFiltering.add(err);
std::cout << "Filtering: " << se.ts << " " << statsFiltering.asString() << std::endl;
}
if(cnt > 35){
// count number of transitions
++cnt;
if(cnt > skip){
//save the current estimation for later smoothing.
pfHistory.push_back(pf->getNonResamplingParticles());
tsHistory.push_back(se.ts);
}
}
//fixed-lag smoothing
@@ -324,8 +333,17 @@ public:
const Point3 curGTSmoothed = gtw.getPosAtTime(tsHistory[(tsHistory.size() - 1) - MiscSettings::lag]);
const Point3 diffSmoothed = curSmoothedEst - curGTSmoothed;
// skip the first 35 scans due to uniform distribution start
// if (cnt > 35) {
statsFiltering.add(err);
std::cout << "Filtering: " << se.ts << " " << statsFiltering.asString() << std::endl;
//}
const float errSmoothed = diffSmoothed.length();
statsSmoothing.add(errSmoothed);
errorsSmooth.push_back(errSmoothed);
std::cout << "Smoothing: " << tsHistory[(tsHistory.size() - 1) - MiscSettings::lag] << " " << statsSmoothing.asString() << std::endl;
//plot
@@ -377,6 +395,19 @@ public:
}
statsout.close();
{ // detailled error-description (normally filtered)
std::ofstream oError("/tmp/err_norm_" + runName + ".dat");
for (float f : errorsNorm) {oError << f << "\n";}
oError.close();
}
{ // detailled error-description (smothed)
std::ofstream oError("/tmp/err_smooth_" + runName + ".dat");
for (float f : errorsSmooth) {oError << f << "\n";}
oError.close();
}
// plot
//vis.clearStates();
vis.gp.setTerminal("png", K::GnuplotSize(1280 * 2.54, 720 * 2.54) );
@@ -425,9 +456,10 @@ public:
oSError.close();
// plot-data
std::ofstream oPath("/tmp/path_" + runName + ".dat"); vis.groundTruth.addDataTo(oPath); oPath.close();
std::ofstream oEst("/tmp/est_" + runName + ".dat"); vis.estPath.addDataTo(oEst); oEst.close();
std::ofstream oFloor("/tmp/floors.dat"); vis.floors.addDataTo(oFloor); oFloor.close();
std::ofstream oPath("/tmp/path_" + runName + ".dat"); vis.groundTruth.addDataTo(oPath); oPath.close(); // ground truth
std::ofstream oEstN("/tmp/est_norm_" + runName + ".dat"); vis.estPath.addDataTo(oEstN); oEstN.close(); // estimation via filter itself
std::ofstream oEstS("/tmp/est_smooth_" + runName + ".dat"); vis.smoothPath.addDataTo(oEstS); oEstS.close(); // estimation via smoothing
std::ofstream oFloor("/tmp/floors.dat"); vis.floors.addDataTo(oFloor); oFloor.close();
std::ofstream oPlot("/tmp/plot_" + runName + ".gp");
@@ -447,11 +479,21 @@ public:
oPlot << "unset ztics\n";
oPlot << "splot \\\n";
oPlot << "'floors.dat' skip 21 notitle with lines lc rgb '#777777', \\\n";
oPlot << "'path_bergwerk_path2_nexus_shortest.dat' skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \\\n";
oPlot << "'est_bergwerk_path2_nexus_shortest.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000099' ";
oPlot << "'floors.dat' skip 21 notitle with lines lc rgb '#777777', \\\n";
oPlot << "'path_" << runName << ".dat' skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \\\n";
oPlot << "'est_norm_" << runName << ".dat' skip 21 notitle with lines lw 2.5 lc rgb '#000099', ";
oPlot << "'est_smooth_" << runName << ".dat' skip 21 notitle with lines lw 2.5 lc rgb '#000000' ";
oPlot.close();
std::ofstream oErrPlot("/tmp/plot_err_" + runName + ".gp");
oErrPlot << "plot \\\n";
oErrPlot << "'err_norm_" << runName << ".dat' with lines, \\\n";
oErrPlot << "'err_smooth_" << runName << ".dat' using (($$0)+" << skip << "):1 with lines";
oErrPlot.close();
}
};