From 5c80f6b61a628540a7fb058cbf3f7b652355992c Mon Sep 17 00:00:00 2001
From: Markus Bullmann <markus.bullmann@fhws.de>
Date: Tue, 1 Oct 2019 10:08:37 +0200
Subject: [PATCH] Only convert nanosecond timestamps for new data files

---
 code/Settings.h | 31 +++++++++++++++++++++----------
 code/main.cpp   |  4 ++--
 2 files changed, 23 insertions(+), 12 deletions(-)

diff --git a/code/Settings.h b/code/Settings.h
index 4887be8..b95f125 100644
--- a/code/Settings.h
+++ b/code/Settings.h
@@ -143,6 +143,7 @@ namespace Settings {
         std::vector<std::string> training;
         std::unordered_map<MACAddress, NUCSettings> NUCs;
         std::vector<int> gtPath;
+        bool HasNanoSecondTimestamps;
 
         NUCSettings nucInfo(int idx) const
         {
@@ -170,7 +171,8 @@ namespace Settings {
                 { NUC3, {3, {21.6, 19.1, 0.8}, 1.75, 3.375, 6.107} }, // NUC 3
                 { NUC4, {4, {20.8, 27.1, 0.8}, 2.75, 2.750, 3.985} }, // NUC 4
             },
-            { 0, 1, 2, 3 }
+            { 0, 1, 2, 3 },
+            false
         };
 
         // 1 Path: U von TR nach TD und zurück;
@@ -190,7 +192,8 @@ namespace Settings {
                 { NUC3, {3, {21.3, 19.3, 0.8}, 2.50, 0, 10.0f} }, // NUC 3
                 { NUC4, {4, {20.6, 26.8, 0.8}, 3.00, 0, 10.0f} }, // NUC 4
             },
-            { 1, 2, 6, 7, 6, 2, 1 }
+            { 1, 2, 6, 7, 6, 2, 1 },
+            false
         };
 
         // 2 Path: Wie 2 nur von TD zu TR
@@ -210,7 +213,8 @@ namespace Settings {
                 { NUC3, {3, {21.3, 19.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 3
                 { NUC4, {4, {20.6, 26.8, 0.8}, 2.00, 0, 3.0f} }, // NUC 4
             },
-            { 7, 6, 2, 1, 2, 6, 7 }
+            { 7, 6, 2, 1, 2, 6, 7 },
+            false
         };
 
 
@@ -231,7 +235,8 @@ namespace Settings {
                 { NUC3, {3, {21.3, 19.3, 0.8}, 1.75, 0, 3.0f} }, // NUC 3
                 { NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 0, 3.0f} }, // NUC 4
             },
-            { 1, 2, 6, 7, 6, 2, 1, 2, 6, 7, 6, 2, 1 }
+            { 1, 2, 6, 7, 6, 2, 1, 2, 6, 7, 6, 2, 1 },
+            false
         };
 
         // 4 Path: In Räumen
@@ -251,7 +256,8 @@ namespace Settings {
                 { NUC3, {3, {21.3, 19.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 3
                 { NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 0, 3.0f} }, // NUC 4
             },
-            { 0, 1, 2, 3, 2, 6, 5, 6, 7, 8 }
+            { 0, 1, 2, 3, 2, 6, 5, 6, 7, 8 },
+            false
         };
             
 
@@ -272,7 +278,8 @@ namespace Settings {
                 { NUC3, {3, {21.3, 19.3, 0.8}, 2.75, 3.250, 3.0f} }, // NUC 3
                 { NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 3.375, 3.0f} }, // NUC 4
             },
-            { 0, 1, 2, 11, 10, 9, 10, 11, 2, 6, 5, 12, 13, 12, 5, 6, 7, 8 }
+            { 0, 1, 2, 11, 10, 9, 10, 11, 2, 6, 5, 12, 13, 12, 5, 6, 7, 8 },
+            false
         };
 
 
@@ -289,7 +296,8 @@ namespace Settings {
                 { NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3
                 { NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4
             },
-            { 100, 101, 102, 103, 104, 103, 102, 101, 100 }
+            { 100, 101, 102, 103, 104, 103, 102, 101, 100 },
+            true
         };
 
         // 7 Path: SHL Path 2; Versuche mit NUCs in den Räumen war nicht vielversprechend ...
@@ -308,7 +316,8 @@ namespace Settings {
                 { NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3
                 { NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4
             },
-            { 100, 102, 103, 104, 105, 104, 103, 102, 100 }
+            { 100, 102, 103, 104, 105, 104, 103, 102, 100 },
+            true
         };
 
         // 8 Path: Wie SHL Path 2 nur, dass die NUCs im Gang stehen
@@ -325,7 +334,8 @@ namespace Settings {
                 { NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3
                 { NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4
             },
-            { 100, 102, 103, 104, 105, 104, 103, 102, 100 }
+            { 100, 102, 103, 104, 105, 104, 103, 102, 100 },
+            true
         };
 
         // 9 Path: SHL Path 3, NUCs stehen im Gang
@@ -343,7 +353,8 @@ namespace Settings {
                 { NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3
                 { NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4
             },
-            { 200, 201, 203, 104, 204, 205, 206, 207, 206, 208, 209, 210, 211, 212 }
+            { 200, 201, 203, 104, 204, 205, 206, 207, 206, 208, 209, 210, 211, 212 },
+            true
         };
 
 
diff --git a/code/main.cpp b/code/main.cpp
index 75c4f8b..d52f944 100644
--- a/code/main.cpp
+++ b/code/main.cpp
@@ -187,8 +187,8 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
     std::string currDir = std::filesystem::current_path().string();
 
     Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
-    Offline::FileReader fr(setup.training[walkIdx]);
-
+    Offline::FileReader fr(setup.training[walkIdx], setup.NanoSecondTimestamps);
+    
     // ground truth
     std::vector<int> gtPath = setup.gtPath;   
     Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);