115/fixed particle trajectory - #18
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Pull request overview
Issue #115 対応として、パーティクルフィルタの推定軌跡が壁上/範囲外に出るケースを抑えつつ、可視化（ステップベクトル図など）を日本語表示・方位考慮付きで分かりやすくする変更です。あわせて trajectory.csv に時刻列を追加し、外部解析で扱いやすくしています。
Changes:
- パーティクルフィルタの平均軌跡を「最も近い歩行可能画素」へスナップし、軌跡の破綻を抑制
run_particle_filterからステップ時刻リストを返し、trajectory.csvをtimestamp_s,x,y形式で出力- ステップベクトル可視化で日本語フォント設定、ジャイロ角
low_angleとinitial_directionを用いた水平加速度の世界座標回転・射影を追加
Reviewed changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.
| File | Description |
|---|---|
| src/rikka/analyze/sensor_plot.py | 日本語フォント設定の追加、水平加速度を世界座標へ回転してステップ軸へ射影、表示文言の日本語化 |
| src/rikka/analyze/pdr.py | trajectory.csv を時刻付きで出力するための DataFrame 構築、PF からの t_at_steps 受け取り、plot への df_gyro/initial_direction 伝播 |
| src/rikka/analyze/particle_filter.py | t_at_steps を収集して返却、平均軌跡を歩行可能画素へスナップして壁上/範囲外を補正 |
| README.md | trajectory.csv の新フォーマット（timestamp_s,x,y）を明記 |
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issue番号
kajiLabTeam/okarin#115
変更内容(写真か動画も一緒に)
影響範囲(あれば)