Merge branch 'master' of https://git.frank-ebner.de/FHWS/FtmPrologic

code/CMakeLists.txt

@@ -50,9 +50,10 @@ FILE(GLOB SOURCES
     main.cpp
     mainTrilat.cpp
     mainProb.cpp
+    mainPlotting.cpp
     Eval.cpp
     FtmKalman.cpp
-	trilateration.cpp	
+    trilateration.cpp
 )
 
 

code/Settings.h

@@ -16,7 +16,7 @@ namespace Settings {
     const bool PlotToPng = false;
 
     const bool UseKalman = false;
-    const bool UseRSSI = false;
+    const bool UseRSSI = true;
 
     /** describes one dataset (map, training, parameter-estimation, ...) */
 

code/main.cpp

@@ -333,7 +333,6 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
     {
         plot.addCircle(10000 + nucConfig.second.ID, nucConfig.second.position.xy(), 0.1);
     }
-    plot.plot();
 
     // particle-filter
     const int numParticles = 5000;
@@ -716,6 +715,11 @@ int main(int argc, char** argv)
         std::cout << "Trilateration" << "\n";
         return mainTrilat(argc, argv);
     }
+    else if (args.hasFlag("plot"))
+    {
+        std::cout << "Plotting" << "\n";
+        return mainPlotting(argc, argv);
+    }
 
     CombinedStats<float> statsAVG;
     CombinedStats<float> statsMedian;

code/main.h

@@ -3,3 +3,5 @@
 int mainTrilat(int argc, char** argv);
 
 int mainProp(int argc, char** argv);
+
+int mainPlotting(int argc, char** argv);

code/mainTrilat.cpp

@@ -111,15 +111,18 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
 
     for (const Offline::Entry& e : fr.getEntries())
     {
-        if (e.type != Offline::Sensor::WIFI_FTM) {
+        if (e.type != Offline::Sensor::WIFI_FTM && e.type != Offline::Sensor::GROUND_TRUTH) {
             continue;
         }
 
         // TIME
         const Timestamp ts = Timestamp::fromMS(e.ts);
 
+        if (e.type == Offline::Sensor::WIFI_FTM)
+        {
         auto wifiFtm = fr.getWifiFtm()[e.idx].data;
         obs.push_back(wifiFtm);
+        }
 
         if (ts - lastTimestamp >= Timestamp::fromMS(500))
         {
@@ -212,8 +215,7 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
                         plot.addLabel(ss.str(), Point3(70, i*5, 0), i);
                     }
                 }
-
-               
+            }
 
                 // Png Output
                 //if (Settings::PlotToPng)
@@ -231,7 +233,6 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
 
                 plot.plot();
                 std::this_thread::sleep_for(std::chrono::milliseconds(100));
-            }
 
             obs.clear();
             lastTimestamp = ts;