FHWS/FtmPrologic
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Added plotta, added probabilistic code

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This commit is contained in:
Markus Bullmann
2019-09-18 09:02:43 +02:00
parent 52eac3a28a
commit a4d49cadb1
9 changed files with 688 additions and 17 deletions
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22
code/main.cpp
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@@ -1,4 +1,4 @@
//#include "main.h"
#include "main.h"
#include "mesh.h"
#include "filter.h"
@@ -28,6 +28,7 @@
#include "FtmKalman.h"
#include "mainFtm.h"
#include "misc.h"
#include <sys/stat.h>
@@ -250,6 +251,11 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
plot.buildFloorplan();
plot.setGroundTruth(gtPath);
plot.setView(30, 0);
// APs Positions
plot.addCircle(100000 + 0, Settings::data.CurrentPath.nucInfo(0).position.xy(), 0.05);
plot.addCircle(100000 + 1, Settings::data.CurrentPath.nucInfo(1).position.xy(), 0.05);
plot.addCircle(100000 + 2, Settings::data.CurrentPath.nucInfo(2).position.xy(), 0.05);
plot.addCircle(100000 + 3, Settings::data.CurrentPath.nucInfo(3).position.xy(), 0.05);
plot.plot();
// particle-filter
@@ -413,7 +419,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
plot.plot();
//plot.closeStream();
//std::this_thread::sleep_for(500ms);
std::this_thread::sleep_for(100ms);
// error calc
// float err_m = gtPos.getDistance(est.pos.pos);
@@ -449,10 +455,20 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
int main(int argc, char** argv)
{
CmdArguments args(argc, argv);
if (args.hasFlag("prob"))
{
return mainProp(argc, argv);
}
else if (args.hasFlag("trilat"))
{
return mainTrilat(argc, argv);
}
//mainFtm(argc, argv);
//return 0;
Stats::Statistics<float> statsAVG;
Stats::Statistics<float> statsMedian;
Stats::Statistics<float> statsSTD;