add the analysis script

ipw_stack/matlab/analysis.m

+%% Report-- obstacle effect --finished
+
+clear all;
+occupancy_map=zeros(20,30);
+occupancy_map(1:9,10)=1;
+occupancy_map(9,15:30)=1;
+occupancy_map(1:20,1)=1;
+occupancy_map(1,1:30)=1;
+occupancy_map(1:20,30)=1;
+occupancy_map(20,1:30)=1;
+occupancy_map(15:16,6:7)=1;
+
+mean_map=zeros(20,30);
+parameters.neighbour_sigma=0.1;
+parameters.sensor_sigma=0.1;
+parameters.time_sigma=0.1;
+parameters.error_tolerance=0.00001;
+variance_map=zeros(20*30,20*30);
+parameters.occupancyThreshold=0.5;
+reading=[33 32];
+position=[3 3; 15 20];
+
+[mean_map_o,variance_map_o]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+figure;
+subplot(2,2,1);
+K1=mat2gray(mean_map_o)-occupancy_map;
+imshow(K1, 'InitialMagnification', 1000);
+title('Mean map with obstacle')
+
+subplot(2,2,3)
+var=diag(variance_map_o);
+a=max(var(var<1))
+var(var>1)=a;
+K2=mat2gray(vec2mat(var,30))-occupancy_map;
+imshow(K2, 'InitialMagnification', 1000);
+title('Variance with obstacle')
+
+
+mean_map=zeros(20,30);
+parameters.neighbour_sigma=0.1;
+parameters.sensor_sigma=0.1;
+parameters.time_sigma=0.1;
+parameters.error_tolerance=0.00001;
+variance_map=zeros(20*30,20*30);
+parameters.occupancyThreshold=2;
+
+occupancy_map=zeros(20,30);
+occupancy_map(1:20,1)=1;
+occupancy_map(1,1:30)=1;
+occupancy_map(1:20,30)=1;
+occupancy_map(20,1:30)=1;
+
+[mean_map_n,variance_map_n]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+subplot(2,2,2);
+K3=mat2gray(mean_map_n)-occupancy_map;
+mean2=imshow(K3, 'InitialMagnification', 1000);
+title('mean map without obstacle')
+
+subplot(2,2,4)
+K4=mat2gray(vec2mat(diag(variance_map_n),30))-occupancy_map;
+imshow(K4, 'InitialMagnification', 1000);
+title('Variance without obstacle')
+
+
+%%  Report: time analysis--finished--mean_map
+clear all;
+mean_map=zeros(20,30);
+parameters.neighbour_sigma=0.08;
+parameters.sensor_sigma=0.1;
+parameters.time_sigma=0.1;
+parameters.error_tolerance=0.00001;
+variance_map=zeros(20*30,20*30);
+parameters.occupancyThreshold=2;
+
+occupancy_map=zeros(20,30);
+occupancy_map(1:20,1)=1;
+occupancy_map(1,1:30)=1;
+occupancy_map(1:20,30)=1;
+occupancy_map(20,1:30)=1;
+
+reading=[30 35 35];
+position=[3 20; 10 10; 15 20];
+
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+figure
+subplot(2,2,1);
+K=mat2gray(mean_map)-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('mean map t1')
+
+reading=[30 35];
+position=[3 20; 15 20];
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+
+subplot(2,2,2);
+K=mat2gray(mean_map)-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('mean map t2')
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+
+subplot(2,2,3);
+K=mat2gray(mean_map)-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('mean map t3')
+
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+
+subplot(2,2,4);
+K=mat2gray(mean_map)-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('mean map t4')
+
+
+
+%%  Report: time analysis--finished--variance_map
+clear all;
+mean_map=zeros(20,30);
+parameters.neighbour_sigma=0.08;
+parameters.sensor_sigma=0.1;
+parameters.time_sigma=0.1;
+parameters.error_tolerance=0.00001;
+variance_map=zeros(20*30,20*30);
+parameters.occupancyThreshold=2;
+
+occupancy_map=zeros(20,30);
+occupancy_map(1:20,1)=1;
+occupancy_map(1,1:30)=1;
+occupancy_map(1:20,30)=1;
+occupancy_map(20,1:30)=1;
+
+reading=[30 35 35];
+position=[3 20; 10 10; 15 20];
+
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+figure
+subplot(2,2,1);
+K=mat2gray(vec2mat(diag(variance_map),30))-occupancy_map;
+%K=mat2gray(variance_map)-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Variance map t1')
+
+reading=[30 35];
+position=[3 20; 15 20];
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+
+subplot(2,2,2);
+K=mat2gray(vec2mat(diag(variance_map),30))-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Variance map t2')
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+
+subplot(2,2,3);
+K=mat2gray(vec2mat(diag(variance_map),30))-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Variance map t3')
+
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+
+subplot(2,2,4);
+K=mat2gray(vec2mat(diag(variance_map),30))-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Variance map t4')
+
+%% Report--different time variance-variance_map
+
+clear all;
+mean_map=zeros(20,30);
+parameters.neighbour_sigma=0.1;
+parameters.sensor_sigma=0.1;
+parameters.time_sigma=0.1;
+parameters.error_tolerance=0.00001;
+variance_map=zeros(20*30,20*30);
+parameters.occupancyThreshold=2;
+
+occupancy_map=zeros(20,30);
+occupancy_map(1:20,1)=1;
+occupancy_map(1,1:30)=1;
+occupancy_map(1:20,30)=1;
+occupancy_map(20,1:30)=1;
+
+reading=[30 35 35];
+position=[3 20; 10 10; 15 20];
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+figure
+subplot(2,2,1);
+K=mat2gray(vec2mat(diag(variance_map),30))-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Variance map Original')
+
+
+reading=[30 35];
+position=[3 20; 15 20];
+
+parameters.time_sigma=1;
+[mean_map_1,variance_map_1]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+subplot(2,2,4);
+K=mat2gray(vec2mat(diag(variance_map_1),30))-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Variance map (1)')
+
+
+parameters.time_sigma=0.1;
+[mean_map_1,variance_map_1]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+subplot(2,2,3);
+K=mat2gray(vec2mat(diag(variance_map_1),30))-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Variance map (0.1)')
+
+
+parameters.time_sigma=0.01;
+[mean_map_1,variance_map_1]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+subplot(2,2,2);
+K=mat2gray(vec2mat(diag(variance_map_1),30))-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Variance map (0.01)')
+
+
+%% Report--different time variance-mean map
+
+clear all;
+mean_map=zeros(20,30);
+parameters.neighbour_sigma=0.1;
+parameters.sensor_sigma=0.1;
+parameters.time_sigma=0.01;
+parameters.error_tolerance=0.00001;
+variance_map=zeros(20*30,20*30);
+parameters.occupancyThreshold=2;
+
+occupancy_map=zeros(20,30);
+occupancy_map(1:20,1)=1;
+occupancy_map(1,1:30)=1;
+occupancy_map(1:20,30)=1;
+occupancy_map(20,1:30)=1;
+
+reading=[30 35 35];
+position=[3 20; 10 10; 15 20];
+
+[mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+figure
+subplot(2,2,1);
+K=mat2gray(mean_map)-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Mean map Original')
+
+
+reading=[30 35];
+position=[3 20; 15 20];
+
+parameters.time_sigma=1;
+[mean_map_1,variance_map_1]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+subplot(2,2,4);
+K=mat2gray(mean_map_1)-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Mean map (1)')
+
+
+parameters.time_sigma=0.1;
+[mean_map_1,variance_map_1]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+subplot(2,2,3);
+K=mat2gray(mean_map_1)-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Mean map (0.1)')
+
+
+parameters.time_sigma=0.01;
+[mean_map_1,variance_map_1]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
+
+subplot(2,2,2);
+K=mat2gray(mean_map_1)-occupancy_map;
+imshow(K, 'InitialMagnification', 1000);
+title('Mean map (0.01)')
+
+
+%% 
\ No newline at end of file

ipw_stack/matlab/main.m

@@ -125,15 +125,12 @@ position=[5 1];
 
 %reading=[33 30];
 %position=[5 1; 2 8];
-%%
 
 reading= 30;
 position=[2 8];
 
 [mean_map,variance_map]=randomField(mean_map,reading,position,parameters,variance_map,occupancy_map);
 
-%%
-
 
 dlmwrite('mean1.csv',mean_map,'precision',9)
 dlmwrite('variance1.csv',variance_map,'precision',9)
@@ -192,5 +189,6 @@ variance_map=reshape(variance_vector,6,4)';
 parameters.occupancyThreshold=2;
 
 position=[2 5];
-goal=exploreMaxVariance(variance_matrix,1,position,parameters,occupancy_map)
+goal=exploreMaxVariance(variance_matrix,1,position,parameters,occupancy_map);
+
 

ipw_stack/matlab/randomField.m

@@ -5,7 +5,7 @@ num_cells=numel(mean_map);
 length_reading=length(reading);
 
 % probability for obstacle or not obstacle
-p_n_o=0.001;
+p_n_o=0.01;
 p_o=1-p_n_o;
 
 %if length_reading==1