Getting Started

Clone the repository:

git clone https://github.com/yi-ming-qian/wifi-sfm.git

We use Python 3.7 and C++ in our implementation, please install dependencies:

conda create -n wifi python=3.7
conda activate wifi
conda install -c conda-forge ceres-solver

Dataset

Please download our dataset from here.

Single-day correction for RONIN trajectories

Please run the following command:

cp CMakeLists-single.txt CMakeLists.txt
mkdir build
cd build
cmake ..
make
cd ..
sh run.sh

Multi-day alignment

Please run the following command:

cp CMakeLists-multi.txt CMakeLists.txt
cd build
rm -r *
cmake ..
make
cd ..
sh ./build/multiAlign

The raw output will be saved under the folder "/outputs/". To visualize the results, please run "python main.py" and check "experiments/multialign/joint.png". The results would look like this:

Contact

Please email https://yi-ming-qian.github.io/ if you have any problems when running the program. This porject is still under development.

Acknowledgements

We thank Pyojin Kim's repo: https://github.com/PyojinKim/wifisfm.