Locates the position and time of emmission of a sound source
To compile:
git clone https://github.com/DSsoto/MIL_echolocation.git
cd MIL_echolocation
mkdir build
cd build
cmake ..
make
./echolocation -h
The last command, will show proper usage, as of now, it can be called from the terminal with 4 timestamps. Note: you will need to have ceres solver installed, see http://ceres-solver.org/building.html
The positions of the hydrophones need to be replaced with the actual sensor locations in hydrophone_locate_source.cpp.