FHWS/FtmPrologic
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Small code changes

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This commit is contained in:
Markus Bullmann
2019-09-18 10:20:07 +02:00
parent fec7097550
commit 22c2bc95c9
3 changed files with 22 additions and 6 deletions
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4
code/ftmprologic.args.json
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@@ -2,6 +2,10 @@
"FileVersion": 2,
"Id": "eafb5522-91a6-3893-907d-2546127e18fd",
"Items": [
{
"Id": "3ee17cce-0233-426a-b4b0-1c3e09fca628",
"Command": "prob"
},
{
"Id": "883c12c1-2ab8-42bc-8db6-3b0feb8f53ff",
"Command": "trilat"

2
code/main.cpp
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@@ -459,10 +459,12 @@ int main(int argc, char** argv)
if (args.hasFlag("prob"))
{
std::cout << "Probabilistic" << "\n";
return mainProp(argc, argv);
}
else if (args.hasFlag("trilat"))
{
std::cout << "Trilateration" << "\n";
return mainTrilat(argc, argv);
}

22
code/mainProb.cpp
View File

@@ -85,12 +85,20 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
//calculate distance of path
std::vector<Interpolator<uint64_t, Point3>::InterpolatorEntry> gtEntries = gtInterpolator.getEntries();
double distance = 0;
double gtTotalDistance = 0;
Stats::Statistics<double> gtWalkingSpeed;
for (int i = 1; i < gtEntries.size(); ++i) {
distance += gtEntries[i].value.getDistance(gtEntries[i - 1].value);
double distance = gtEntries[i].value.getDistance(gtEntries[i - 1].value);
double timeDiff = static_cast<double>(gtEntries[i].key - gtEntries[i - 1].key);
double walkingSpeed = distance / (timeDiff/1000.0f); // m / s
gtWalkingSpeed.add(walkingSpeed);
gtTotalDistance += distance;
}
std::cout << "Distance of Path: " << distance << std::endl;
std::cout << "Distance of Path: " << gtTotalDistance << std::endl;
std::cout << "GT walking speed: " << gtWalkingSpeed.getAvg() << "m/s (" << gtWalkingSpeed.getAvg()*3.6f << "km/h)" << std::endl;
// debug show
//MeshPlotter dbg;
@@ -149,6 +157,8 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
if (Settings::UseKalman)
{
std::cout << "Using Kalman" << "\n";
for (size_t i = 0; i < 4; i++)
{
if (!isnan(dists[i]))
@@ -250,10 +260,10 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
}
std::cout << "Walk error:" << "\n";
std::cout << "[m] " << " mean \t stdDev median" << "\n";
std::cout << "[m] " << std::setw(10) << "mean" << std::setw(10) << "stdDev" << std::setw(10) << "median" << "\n";
std::cout << "FTM " << errorStats.ftm.getAvg() << "\t" << errorStats.ftm.getStdDev() << "\t" << errorStats.ftm.getMedian() << "\n";
std::cout << "RSSI " << errorStats.rssi.getAvg() << "\t" << errorStats.rssi.getStdDev() << "\t" << errorStats.rssi.getMedian() << "\n";
std::cout << "FTM " << std::setw(10) << errorStats.ftm.getAvg() << std::setw(10) << errorStats.ftm.getStdDev() << std::setw(10) << errorStats.ftm.getMedian() << "\n";
std::cout << "RSSI " << std::setw(10) << errorStats.rssi.getAvg() << std::setw(10) << errorStats.rssi.getStdDev() << std::setw(10) << errorStats.rssi.getMedian() << "\n";
std::cout << std::endl;
return errorStats;