anisghaoui / humolire Goto Github PK

Hello.
First of all, thank you for providing the code and the paper.
I have conducted PDR (Pedestrian Dead Reckoning) using the provided code for test purpose and obtained meaningful results.
I would like to compare the coordinates obtained through DR with those corrected based on the Grid map at the same timestamps.
Therefore, I would like to include timestamps for each coordinate in the code.
From my analysis of the code, it seems that the coordinates obtained through DR are stored in pdr_positions in main.py(line 81),
pdr_positions, total_distance = compute_positions(*perform_pdr(acce, gyro, **kwargs)
and the corrected coordinates based on the Grid map are likely to be found in plot_particles_center within visualize.py(line 121,122).
X = [center.x for center in center_positions] Y = [center.y for center in center_positions]
My questions are as follows:

1. Could you please provide a way to include timestamps for both DR coordinates and Grid map-based corrected coordinates?
2. Alternatively, should I consider that the generated coordinates are estimated at 1-second intervals? I am asking this because there seems to be a parameter for steps per second.

Thank you for reading my message, and I would greatly appreciate your response as it would be immensely helpful to me. Thank you, and have a great day.