{"id":29626341,"url":"https://github.com/kajilabteam/particle-filter-visualization-system","last_synced_at":"2025-07-21T07:05:55.875Z","repository":{"id":271981513,"uuid":"905575553","full_name":"kajiLabTeam/particle-filter-visualization-system","owner":"kajiLabTeam","description":null,"archived":false,"fork":false,"pushed_at":"2025-02-21T10:49:33.000Z","size":2373,"stargazers_count":0,"open_issues_count":4,"forks_count":0,"subscribers_count":0,"default_branch":"dev","last_synced_at":"2025-02-21T11:41:37.660Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/kajiLabTeam.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-12-19T05:33:28.000Z","updated_at":"2025-01-14T05:22:48.000Z","dependencies_parsed_at":null,"dependency_job_id":"05aa6b47-49d5-482f-8b9f-99f9dd3083ee","html_url":"https://github.com/kajiLabTeam/particle-filter-visualization-system","commit_stats":null,"previous_names":["kajilabteam/particle-filter-visualization-system"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/kajiLabTeam/particle-filter-visualization-system","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kajiLabTeam%2Fparticle-filter-visualization-system","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kajiLabTeam%2Fparticle-filter-visualization-system/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kajiLabTeam%2Fparticle-filter-visualization-system/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kajiLabTeam%2Fparticle-filter-visualization-system/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/kajiLabTeam","download_url":"https://codeload.github.com/kajiLabTeam/particle-filter-visualization-system/tar.gz/refs/heads/dev","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/kajiLabTeam%2Fparticle-filter-visualization-system/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":266255458,"owners_count":23900147,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-07-21T07:05:54.849Z","updated_at":"2025-07-21T07:05:55.870Z","avatar_url":"https://github.com/kajiLabTeam.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# パーティクルフィルタを用いた PDR+マップマッチングの自己位置推定\r\n\r\n## 実行方法\r\n\r\n### 0. `uv`のインストール\r\n\r\n```shell\r\nbrew install uv\r\n```\r\n\r\n### 1. サーバの起動\r\n\r\n```shell\r\nuv run uvicorn main:app --reload\r\n```\r\n\r\n## 自身で用意したデータを用いてパーティクルフィルタを実行\r\n\r\n入力できるパラメータの組み合わせによって二通りあります\r\n\r\n### フロアマップ＋ジャイロセンサ\r\n\r\n[`track_real` 関数](https://github.com/kajiLabTeam/particle-filter/blob/205c1d1808996fd62f61740123fa1d10da3672e6/main.py#L35)にフロアマップのファイルパス・ジャイロセンサのファイルパス・出力先のファイルパス（二種類）を入力します\r\n\r\nジャイロセンサの生データに必要なカラムは[こちらの CSV](https://github.com/kajiLabTeam/particle-filter/blob/main/data/gyroscope/gyro1.csv)を参考にしてください\r\n\r\n### フロアマップ＋自身で設定した座標・角度の変化量・歩幅\r\n\r\n[`track_ideal` 関数](https://github.com/kajiLabTeam/particle-filter/blob/0e17d52f353a847d433ba1bd8dd2aea2a80712c3/main.py#L93)にフロアマップのファイルパス・自身で作成した座標＆歩行情報（Python 変数）・出力先のファイルパス（二種類）を入力します\r\n\r\n自身で作成した座標＆歩行情報の形式は[こちらのファイル](https://github.com/kajiLabTeam/particle-filter/blob/0e17d52f353a847d433ba1bd8dd2aea2a80712c3/config/const/coordinate.py#L4)を参考にしてください\r\n\r\n## 参考資料\r\n\r\n### ドメインモデル\r\n\r\n[こちらから〜](https://kjlb.esa.io/posts/5570)\r\n\r\n### アルゴリズムの詳細\r\n\r\n[こちらから〜](https://kjlb.esa.io/#path=%2F%E3%83%97%E3%83%AD%E3%82%B8%E3%82%A7%E3%82%AF%E3%83%88%2F%E3%83%93%E3%83%83%E3%82%B0%E3%83%87%E3%83%BC%E3%82%BF%E3%82%92%E7%94%A8%E3%81%84%E3%81%A6%E5%B1%8B%E5%86%85%E6%8E%A8%E5%AE%9A%E3%81%AE%E7%B2%BE%E5%BA%A6%E5%90%91%E4%B8%8A%E3%81%95%E3%81%9B%E3%82%8B%E8%94%B5%2F%E3%83%91%E3%83%BC%E3%83%86%E3%82%A3%E3%82%AF%E3%83%AB%E3%83%95%E3%82%A3%E3%83%AB%E3%82%BF%E3%81%A8PDR%E3%81%A8%E3%83%9E%E3%83%83%E3%83%97%E3%83%9E%E3%83%83%E3%83%81%E3%83%B3%E3%82%B0%2F%E3%82%A2%E3%83%AB%E3%82%B4%E3%83%AA%E3%82%BA%E3%83%A0)\r\n\r\n### 今までの実行結果\r\n\r\n[こちらから〜](https://kjlb.esa.io/#path=%2F%E3%83%97%E3%83%AD%E3%82%B8%E3%82%A7%E3%82%AF%E3%83%88%2F%E3%83%93%E3%83%83%E3%82%B0%E3%83%87%E3%83%BC%E3%82%BF%E3%82%92%E7%94%A8%E3%81%84%E3%81%A6%E5%B1%8B%E5%86%85%E6%8E%A8%E5%AE%9A%E3%81%AE%E7%B2%BE%E5%BA%A6%E5%90%91%E4%B8%8A%E3%81%95%E3%81%9B%E3%82%8B%E8%94%B5%2F%E3%83%91%E3%83%BC%E3%83%86%E3%82%A3%E3%82%AF%E3%83%AB%E3%83%95%E3%82%A3%E3%83%AB%E3%82%BF%E3%81%A8PDR%E3%81%A8%E3%83%9E%E3%83%83%E3%83%97%E3%83%9E%E3%83%83%E3%83%81%E3%83%B3%E3%82%B0%2F%E7%B5%90%E6%9E%9C)\r\n\r\n## その他以外のコマンド説明\r\n\r\n### python ファイルの実行\r\n\r\n```sh\r\nuv run \"実行したいファイル\"\r\n```\r\n\r\n### ライブラリのインストール\r\n\r\n```sh\r\nuv add \"インストールしたいライブラリ名\"\r\n```\r\n\r\n### リンター・フォーマッターの適用\r\n\r\n\u003e [!NOTE]\r\n\u003e pre-commit 時にも以下のコマンドは実行されます\r\n\r\n```\r\nuv run ruff check --fix \u0026\u0026 uv run ruff format\r\n```\r\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkajilabteam%2Fparticle-filter-visualization-system","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fkajilabteam%2Fparticle-filter-visualization-system","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fkajilabteam%2Fparticle-filter-visualization-system/lists"}