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added activity recognition to smoothing transition

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toni
2016-04-26 10:12:10 +02:00
parent ed8e37108a
commit f7e817d5e4
13 changed files with 204 additions and 183 deletions
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17
code/eval/FixedLagEvalBase.h
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@@ -245,12 +245,12 @@ public:
break;
}
case s_accel: {
float acc[3];
SensorReaderAccel sre; sre.read(se, acc);
actDet.addAccel(acc);
break;
}
case s_accel: {
float acc[3];
SensorReaderAccel sre; sre.read(se, acc);
actDet.addAccel(acc);
break;
}
// case s_linearAcceleration:{
// baroSensorReader.readVerticalAcceleration(se);
@@ -284,9 +284,10 @@ public:
// currently detected activity
// TODO: feed sensor values!
ctrl.currentActivitiy = actDet.getCurrentActivity();
ctrl.currentActivitiy = actDet.getCurrentActivity();
// this is just for testing purposes
obs.currentActivity = actDet.getCurrentActivity();
// time for a transition?
if (se.ts - lastTransitionTS > MiscSettings::timeSteps) {

39
code/eval/SmoothingEval1.h
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@@ -51,37 +51,44 @@ public:
//create the backward smoothing filter
//bf = new K::BackwardSimulation<MyState>(50);
bf = new K::CondensationBackwardFilter<MyState>;
//bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
bf = new K::BackwardSimulation<MyState>(500);
//bf = new K::CondensationBackwardFilter<MyState>;
bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
}
void fixedIntervallSimpleTransPath1() {
void fixedIntervallSimpleTransPath1(){
runName = "fixedIntervallSimpleTransPath1";
bool smoothing_resample = false;
smoothing_time_delay = 1;
BarometerEvaluation::barometerSigma = 0.10;
sr = new SensorReader("./measurements/bergwerk/path1/nexus/vor/1454775984079.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path1/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path1/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path1dbl);
sr = new SensorReader("./measurements/bergwerk/path3/nexus/vor/1454782562231.csv"); // forward
srt = new SensorReaderTurn("./measurements/bergwerk/path3/nexus/vor/Turns.txt");
srs = new SensorReaderStep("./measurements/bergwerk/path3/nexus/vor/Steps2.txt");
gtw = getGroundTruthWay(*sr, floors.gtwp, path3dbl);
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path1dbl.back()]) );
MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[path4dbl.back()]) );
GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
//Smoothing Variables
smoothing_walk_mu = 0.7;
smoothing_walk_sigma = 0.5;
smoothing_heading_sigma = 5.0;
smoothing_baro_sigma = 0.05;
bool smoothing_resample = false;
smoothing_time_delay = 1;
//Smoothing using Simple Trans
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
if(smoothing_resample)
bf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionSimple>( new MySmoothingTransitionSimple()) );
}
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
}
void fixedIntervallSimpleTransPath4(){
@@ -111,7 +118,7 @@ public:
bf->setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>>(new K::ParticleFilterEstimationWeightedAverageWithAngle<MyState>()));
if(smoothing_resample)
bf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionExperimental>( new MySmoothingTransitionExperimental) );
bf->setTransition(std::unique_ptr<MySmoothingTransitionSimple>( new MySmoothingTransitionSimple) );
}
// ============================================================ Dijkstra ============================================== //