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result.txt
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result.txt
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optimized with V = (3.98, 12.03, 2.9) and epsilon = 0.2
[ 0.15208953, 0.41470837, 0.14167566, 1.09330739, 0.73908804,
0.08182775, 0.38898396, 2.80639514, 2.1260087 , 0.8094658 ,
0.11021482, 11.44863116, 0.09666127, 1.06809172, 5.37997749,
0.09179937, 11.50576853, 2.75039422, 2.20732516, 5.58059941,
3.83063347, 0.38267047, 0.08737888, 1.1591049 , 2.44031178,
3.89367088, 0.24102442, 2.83428936, 2.19352159, 2.51847046,
3.84511644, 11.54322612, 0.09125082, 1.26672622, 3.77436118,
3.89433325, 11.60313932, 2.78029694, 2.14965256, 3.74062094]
15902 out of 15960
Metrics:
- penalty weighted: 1.0178117048346056
- gdop threshold 2: 123.15521628498728
- coverage: 0.9825
- triangulability: 51205.5855835801
Using GDOP (without considering orientation):
[ 0.29325053, 0.89621842, 0.20718304, 1.31326803, 1.22090274,
0.31039543, 0.8481683 , 2.75534156, 1.83696192, 1.21830154,
0.2630228 , 11.38533752, 0.10523411, 1.31462662, 5.06761237,
0.26859901, 11.44648558, 2.73377982, 1.83060974, 5.07310204,
3.78122786, 0.83937601, 0.22645622, 1.31596205, 1.93429507,
3.7918278 , 0.89519463, 2.7728522 , 1.83084825, 1.93776955,
3.75488049, 11.42912936, 0.19153263, 1.31884094, 4.36562724,
3.77140868, 11.40296266, 2.74248509, 1.83005218, 4.39598162]
Metrics:
- penalty weighted: 1.5831134564643798
- gdop threshold 2: 71.24010554089709
- coverage: 0.6316666666666667
- triangulability: 102242.38627885078
Using GDOP (and considering orientation with a penalty factor to the fifth power):
[ 0.29325053, 0.89621842, 0.20718304, 1.31326803, 1.22090274,
0.31039543, 0.8481683 , 2.75534156, 1.83696192, 1.21830154,
0.2630228 , 11.38533752, 0.10523411, 1.31462662, 5.06761237,
0.26859901, 11.44648558, 2.73377982, 1.83060974, 5.07310204,
3.78122786, 0.83937601, 0.22645622, 1.31596205, 1.93429507,
3.7918278 , 0.89519463, 2.7728522 , 1.83084825, 1.93776955,
3.75488049, 11.42912936, 0.19153263, 1.31884094, 4.36562724,
3.77140868, 11.40296266, 2.74248509, 1.83005218, 4.39598162]
Metrics:
- penalty weighted: 1.5831134564643798
- gdop threshold 2: 71.24010554089709
- coverage: 0.6316666666666667
- triangulability: 102242.38627885078
Using GDOP point counting (with threshold of 10):
[ 0.37597045, 0.62121267, 2.14354076, 1.37708617, 1.39176515,
0.24869829, 0.52220901, 0.82194013, 2.1058068 , 1.42624408,
0.06571993, 4.36523332, 0.1797022 , 0.87012808, 5.4404979 ,
2.06885228, 11.53114843, 2.9 , 2.50041449, 5.08825306,
3.93767348, 7.43242536, 1.82419748, 1.38450349, 2.79576216,
3.86625779, 7.83607222, 1.01520172, 3.12414109, 2.81803416,
3.78742161, 4.15166977, 0.04847863, 1.57079633, 4.48238249,
3.94588399, 11.79763269, 2.66707242, 2.15991132, 3.79587495]
Metrics:
- penalty weighted: 1.087941976427924
- gdop threshold 2: 598.3680870353581
- coverage: 0.9191666666666667
- triangulability: 60254.800089150034
Using GDOP point counting (with threshold of 2):
Absolute nonsense
[ 0.05072372, 0.1190711 , 2.8462539 , 0.30686313, 1.38241592,
0. , 0.41579005, 2.89706099, 2.37037856, 0.97193685,
0.24875489, 3.18422597, 0. , 0.81431421, 5.27934156,
0. , 11.65775311, 2.73264182, 2.29113895, 5.31613848,
3.98 , 0.70949535, 1.04151703, 1.16329223, 2.37786184,
3.41840009, 10.21011314, 2.71691716, 1.77366824, 3.02438625,
3.98 , 0. , 0. , 1.57079633, 4.71238898,
3.98 , 11.27869344, 2.05860516, 2.47062423, 4.71238898]
Metrics:
- penalty weighted: 1.279317697228145
- gdop threshold 2: 1143.7100213219617
- coverage: 0.7816666666666666
- triangulability: 93160.59099972427
Count objective function with triangulability (range: [40, 140], epsilon = 0.5, no penalty):
[2.10291960e-01, 1.74570504e-01, 0.00000000e+00, 7.64897302e-01,
9.93177359e-01, 1.86197629e-01, 2.78297690e-01, 2.90000000e+00,
2.28941209e+00, 8.87579895e-01, 8.14551185e-02, 1.09257679e+01,
1.91657881e-01, 8.11007036e-01, 5.28590531e+00, 8.44972686e-03,
1.17532298e+01, 2.90000000e+00, 2.50052753e+00, 5.52084741e+00,
3.74094854e+00, 8.47265743e-01, 2.29281956e-01, 4.86607284e-01,
2.29889001e+00, 3.58681066e+00, 9.27062105e-01, 2.57193890e+00,
2.51676365e+00, 2.42425225e+00, 3.61213062e+00, 1.03431861e+01,
2.17776222e-01, 9.82472451e-01, 4.24535298e+00, 3.84947503e+00,
1.17973765e+01, 2.80174256e+00, 2.26722472e+00, 3.78304574e+00]
Metrics:
- coverage: 0.9591666666666666
- triangulability: 61574.372895519766
Count objective function with triangulability (range: [40, 140], epsilon = 0.5, sigmoid of total + penalty for coverage):
[ 0.24568822, 0.44485862, 0.35637714, 1.19587472, 0.7593165 ,
0.39276546, 0.61742584, 2.61782527, 2.13780439, 0.70971557,
0. , 11.24315992, 0.24522313, 0.79385157, 5.67793773,
0.42312056, 11.6416316 , 2.75390491, 2.22915448, 5.76553307,
3.75694687, 0.57061324, 0.29271487, 1.34218897, 2.95177306,
3.82076517, 0.53220305, 2.77476474, 2.26490083, 2.71708424,
3.69693871, 11.32828464, 0.13232976, 1.10767022, 3.91817952,
3.69412947, 11.31153759, 2.70763263, 2.36755126, 3.97516017]
Metrics:
- coverage: 0.9625
- triangulability: 50640.51553788612
Average reciprocal GDOP (no angle bounds):
[ 0.1617669 , 2.65104963, 0. , 0.91824958, 0.97310717,
0. , 3.76484067, 2.9 , 2.10560244, 0.69934691,
0. , 11.06708181, 0. , 1.16079753, 5.4891033 ,
0.02591085, 9.02950831, 2.9 , 2.28789139, 5.98938951,
3.81101486, 6.13502485, 0. , 0.76304537, 2.00578746,
3.63758389, 3.06531044, 2.88805054, 2.1806488 , 2.30498138,
3.67245603, 8.9512966 , 0. , 0.95314404, 3.68103238,
3.77598245, 11.00919657, 2.9 , 2.20416452, 3.91420568]
Average reciprocal GDOP with cylinder at center:
[ 0.20104664, 0.60733231, 0.14652128, 1.34429356, 1.24630497,
0.20169002, 0.60445349, 2.75608529, 1.7959953 , 1.24615411,
0.20241823, 11.43446762, 0.14681822, 1.34519829, 5.03328291,
0.20162613, 11.43411302, 2.75594085, 1.79578556, 5.03189347,
3.7824354 , 0.6071474 , 0.14683717, 1.3440342 , 1.89054237,
3.7831236 , 0.6082806 , 2.75944877, 1.79598236, 1.89049762,
3.78234707, 11.43301357, 0.14634816, 1.34406598, 4.39182673,
3.78332542, 11.43121337, 2.7595549 , 1.79578556, 4.39140133]
Average reciprocal GDOP with cylinder at center (~5hrs runtime!!):
[ 0. , 3.56804253, 0. , 0.77552265, 0.4802122 ,
0.11486522, 0.8690316 , 2.9 , 2.35207239, 0.69989155,
0. , 11.34447468, 0. , 0.829442 , 5.57522773,
0. , 9.34701093, 2.9 , 2.33266765, 5.7501486 ,
3.90661141, 1.95856593, 0. , 0.5680979 , 2.02945637,
3.97061831, 3.85644206, 2.9 , 2.33583625, 2.55654001,
3.98 , 8.99297681, 0. , 0.81386387, 3.546532 ,
3.98 , 10.96330585, 2.9 , 2.20996887, 3.5915717 ]