int main() {
fout = fopen("fixedpoint_out.txt", "w");
fprintf(fout,"Kevin Boisseau\nCOT4500\nHomework 2\n\n");
fprintf(fout,"Section 2.2, problem #4\n\n");
fprintf(fout,"root of a) is: %lf\n", getFixedPoint(1,10000,1));
fprintf(fout,"root of b) is: %lf\n", getFixedPoint(1,10000,2));
fprintf(fout,"root of c) is: %lf\n", getFixedPoint(1,10000,3));
fprintf(fout,"root of d) is: %lf\n", getFixedPoint(1,10000,4));
fclose(fout);
return 0;
}
int main(int argc, char** argv)
{
char configFilename[256];
if (argc > 1)
strncpy(configFilename, argv[1], 255);
else
strcpy(configFilename, "conf.txt");
SimulatorArgument simArgs;
simArgs.load(configFilename);
// real plane should be saved as plane.auto.conf, but for convenice, save plane.detected.conf
// this will be rewrite after detecting plane process
simArgs.planes.save("plane.detected.conf");
simArgs.beacons.save("beacon.auto.conf");
estArgs.load(configFilename);
estArgs.estimatorMode = EST::TRADITIONAL;
estArgs.optimization = 0;
estimator.setEstimator(&estArgs);
PlaneList realPlanes;
PlaneList detectedPlanes;
realPlanes.makeCube(simArgs.width, simArgs.length, simArgs.height);
// there is 6 planes in realPlanes.
// index 0~3 are side wall, 4 and 5 are ceiling and floor
printf("Generating direct signal events...");
fflush(stdout);
// events for directly receiving signals
EventGenerator directEventGenerator;
directEventGenerator.generateEventForPlaneDetection(
&simArgs, listenerInterval, minMargin, listenerZ, Vector(0, 0, 1));
printf("done\n");
Vector bestLocation[4];
Vector bestLocationSimulated[4];
double error[4];
for (int i = 0; i < 4; i++)
{
EventGenerator reflectedEventGenerator;
// normal vector of each plane faces outside of cube
Vector vFacing = realPlanes.at(i)->vNormal;
printf("\nGenerating events for Plane %d...", i);
fflush(stdout);
reflectedEventGenerator.generateEventForPlaneDetection(
&simArgs, listenerInterval, minMargin, listenerZ, vFacing);
printf("done\n");
double gap = 100;
Vector fixedPoint;
int fixedPointIdx;
EventLog *eventD;
EventLog *eventR;
for (gap = 100; gap > 0; gap -= 5)
{
fixedPoint = getFixedPoint(realPlanes.at(i), gap);
fixedPointIdx = getFixedPointIndex(fixedPoint, &directEventGenerator.events);
eventD = &directEventGenerator.events.events[fixedPointIdx];
eventR = &reflectedEventGenerator.events.events[fixedPointIdx];
if (!checkReflection(eventD)) continue;
if (eventR->measurements.size() >= 5) break;
};
if (gap <= 0)
{
fprintf(stderr, "can not find valid point for plane %d\n", i);
exit(1);
}
printf("fixed point for plane %d (gap : %d) = ", i, (int)gap);
fixedPoint.println();
Plane detectedPlane = detectPlane(
&simArgs,
realPlanes.at(i),
i/*pid*/,
eventD,
eventR,
&bestLocation[i],
&bestLocationSimulated[i],
&error[i]);
detectedPlane.setBoundary(true);
detectedPlanes.addPlane(detectedPlane);
printf("min error : %f\n", error[i]);
}
for (int i = 0; i < 5; i++)
{
// make test plane list. this list has mixed set of real plane and detected plane
PlaneList testPlanes;
for (int j = 0; j < 4; j++)
{
if (i > j)
testPlanes.addPlane(*detectedPlanes.at(j));
else
testPlanes.addPlane(*realPlanes.at(j));
}
testPlanes.addPlane(*realPlanes.at(4));
testPlanes.addPlane(*realPlanes.at(5));
char filename[255];
sprintf(filename, "plane.detected.%d.conf", i);
testPlanes.save(filename);
}
printf("\nResults");
for (int i = 0; i < 4; i++)
{
printf("\n");
printf("detected plane : ");
detectedPlanes.at(i)->println();
printf("best location : ");
bestLocation[i].println();
printf("best location (simulated) : ");
bestLocationSimulated[i].println();
printf("error : %f\n", error[i]);
}
// add ceiling and floor
detectedPlanes.addPlane(*realPlanes.at(4));
detectedPlanes.addPlane(*realPlanes.at(5));
// save detected planes
detectedPlanes.save("plane.detected.conf");
}
