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function script_run_profile(dataDir, resultDir, type, common, toolDir)
path(path, common);
file = fopen([dataDir, '/1.txt'], 'r');
full = fscanf(file,'%f');
elapsed = zeros(1,2);
rows = full(2);
cols = full(1);
fid = zeros(rows, cols);
k = 3;
for i=1:rows
for j =1:cols
fid(i,j) = full(k);
k = k+1;
end
end
fclose(file);
n=1000;
gyroTimeInterval=0.01;
acclTimeInterval=0.01;
STDDEV_GPSVel=0.5;
STDDEV_ODOVel=0.1;
STDDEV_ACCL=1;
M_STDDEV_GYRO=0.1;
M_STDDEV_POS=0.1;
M_STDDEV_VEL=0.02;
if(strcmp(type,'test'))
n = 3;
gyroTimeInterval = 0.1;
acclTimeInterval = 0.1;
M_STDDEV_VEL = 0.2;
elseif(strcmp(type, 'sim_fast'))
n = 3;
elseif(strcmp(type, 'sim'))
n = 10;
elseif(strcmp(type, 'sqcif'))
n = 800;
elseif(strcmp(type, 'qcif'))
n = 500;
elseif(strcmp(type, 'vga'))
n = 2000;
elseif(strcmp(type, 'wuxga'))
n = 3000;
end
fprintf(1,'Input size\t\t- (%dx%dx%d)\n', rows, cols,n);
pos=zeros(n,3);
vel=zeros(n,3) + randWrapper(n,3)*STDDEV_ODOVel;
pi = 3.1416;
eul1 = eul2quat([zeros(n,2), randWrapper(n,1)*2*pi]);
eul2 = eul2quat([pi, 0, 0]);
quat=quatMul(eul1, eul2);
i=0;
index = 0;
resultMat = zeros(3,rows);
while 1
i=i+1;
[tStamp, sType, sData, isEOF, index] = readSensorData(index, fid);
start = photonStartTiming;
if(sType==2)
%Motion model
gyro = sData(1, 1:3);
randnWrapper_mat = randnWrapper(n,3); % KVS: We do not have function implementation for randnWrapper()
gyro=ones(n,1)*gyro+randnWrapper_mat*M_STDDEV_GYRO;
abc = gyro.^2;
abcd = sumCol(abc);
norm_gyro = sqrt(abcd);
% norm_gyro=sqrt(sum(gyro.^2,2));
angleAlpha=norm_gyro*gyroTimeInterval;
quatDelta=[cos(angleAlpha/2), gyro./(norm_gyro*ones(1,3)+0.00000001).*(sin(angleAlpha/2)*ones(1,3))];
quat=quatMul(quat, quatDelta);
end
if(sType==4)
%Observation
STDDEV_GPSPos=[sData(1,7), 0, 0; 0, sData(1,8), 0; 0, 0, 15];
Opos=sData(1,1:3);
%Initialize
randnWrapper_mat = randnWrapper(n,3);
if sum(sum(pos))==0
pos=ones(n,1) * Opos + randnWrapper_mat*STDDEV_GPSPos;
else
rows = size(STDDEV_GPSPos, 1);
cols = size(STDDEV_GPSPos, 2);
temp_STDDEV_GPSPos = ones(rows,cols);
for mnrows=1:rows % KVS" Photon rejects this loop becasue of too many nestings ??
for mncols=1:cols
temp_STDDEV_GPSPos(mnrows, mncols) = power(STDDEV_GPSPos(mnrows,mncols),-1);
end
end
[temp, w]=mcl(pos, Opos , temp_STDDEV_GPSPos);
[quat, vel, pos]=generateSample(w, quat, vel, pos, M_STDDEV_VEL, M_STDDEV_POS);
end
%compare direction
Ovel=sData(1,4:6);
% KVS: We do not have function for norm() yet! So replacing this operating with OvelNorm
% OvelNorm=norm(Ovel);
OvelNorm= 2.0; %1.1169e+09;
if (OvelNorm>0.5)
% KVS: Similar here: No impln of norm(), so replacing
% norm(Ovel) with OvelNorm value
Ovel=Ovel/OvelNorm;
%trick
%quat=addEulNoise(quat, STDDEV_GPSVel);
qConj = quatConj(quat);
orgWorld=quatRot([1, 0, 0],qConj);
eye3 = [1,0,0;0,1,0;0,0,1];
[temp, w]=mcl(orgWorld, Ovel, eye3./STDDEV_GPSVel);
[quat, vel, pos]=generateSample(w, quat, vel, pos, M_STDDEV_VEL, M_STDDEV_POS);
end
end
if(sType==1)
%Observation
Ovel=sData(1,1);
[temp, w]=mcl(sqrt(vel(:,1).^2+vel(:,2).^2+vel(:,3).^2), Ovel, 1/(STDDEV_ODOVel));
[quat vel pos]=generateSample(w, quat, vel, pos, M_STDDEV_VEL, M_STDDEV_POS);
end
if(sType==3)
%Observation
accl=sData(1,1:3);
gtemp = ones(n,1) * [0 0 -9.8];
gravity=quatRot(gtemp, quat);
eye3 = [1,0,0;0,1,0;0,0,1];
[gravity, w]=mcl(gravity, accl, eye3./(STDDEV_ACCL));
[quat, vel, pos]=generateSample(w, quat, vel, pos, M_STDDEV_VEL, M_STDDEV_POS);
%Motion model
accl=ones(n,1)*accl;
accl=accl-gravity;
pos=pos+quatRot(vel,quatConj(quat))*acclTimeInterval ...
+1/2*quatRot(accl,quatConj(quat))*acclTimeInterval^2 ...
+randnWrapper(n,3)*M_STDDEV_POS;
vel=vel+accl*acclTimeInterval+randnWrapper(n,3)*M_STDDEV_VEL;
end
stop = photonEndTiming;
temp = photonReportTiming(start, stop);
elapsed(1) = elapsed(1) + temp(1);
elapsed(2) = elapsed(2) + temp(2);
% Self check
quatOut = 0;
posOut = 0;
velOut = 0;
for ij=1:(size(quat,1)*size(quat,2))
quatOut = quatOut + quat(ij);
end
for ij=1:(size(vel,1)*size(vel,2))
velOut = velOut + vel(ij);
end
for ij=1:(size(pos,1)*size(pos,2))
posOut = posOut + pos(ij);
end
resultMat(:, i) = [quatOut, velOut, posOut];
if (isEOF == 1)
break;
end
end
%% Timing
photonPrintTiming(elapsed);
%% Self checking %%
fWriteMatrix(resultMat,dataDir);
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