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Only convert nanosecond timestamps for new data files

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This commit is contained in:
Markus Bullmann
2019-10-01 10:08:37 +02:00
parent deb318e115
commit 5c80f6b61a
2 changed files with 23 additions and 12 deletions
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31
code/Settings.h
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@@ -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
};

4
code/main.cpp
View File

@@ -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);