From 2fe2987ddb94c00a79b9cfb0e30630860f83f1b8 Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlsson <fredrikb@nichols.control.lth.se>
Date: Thu, 24 Sep 2015 11:52:37 +0200
Subject: [PATCH] clean up
---
track_audio.m | 25 +++++++++++--------------
1 file changed, 11 insertions(+), 14 deletions(-)
diff --git a/track_audio.m b/track_audio.m
index 7b77e66..7d8a3e7 100644
--- a/track_audio.m
+++ b/track_audio.m
@@ -15,13 +15,6 @@ simParams.fHighHz = 8000; % Upper center frequency of the gammatone
simParams.nChannels = 32; % Number of filterbank channels
simParams.frameSize = 50E-3; % Frame size in seconds
-% Optional noise types
-% Choose between 'none', 'busystreet', 'restaurant', 'supermarket' and
-% 'tubestation'
-noiseType = 'tubestation';
-
-% Signal to noise ratio in dB
-snr = 0;
%% Model parameters
@@ -46,11 +39,9 @@ addpath('./tools');
addpath('./ekfukf-toolbox');
-%% Simulation
-
figure(1)
-signal = ...
+signal = ... % get signal here
% Get signal length and number of frames
nSamples = size(signal, 1);
nFrames = floor(nSamples / (simParams.frameSize * fsHz));
@@ -66,14 +57,20 @@ azimuthDistribution = ...
squeeze(dataObj.azimuthDistribution{1}.Data(:));
% Use -90 to align coordinate system
measuredLocations = argmax(azimuthDistribution, 2) - 90;
+N = length(measuredLocations);
% Initialize posterior mean and covariance
-posteriorMean = zeros(size(A, 1), length(measuredLocations));
-posteriorCovariance = zeros(size(A, 1), size(A, 1), ...
- length(measuredLocations));
+posteriorMean = zeros(size(A, 1), N);
+posteriorCovariance = zeros(size(A, 1), size(A, 1), N);
% Perform localization and tracking
-for l = 1 : length(measuredLocations)
+for l = 1:N
+
+ % ===================================================
+ % Perform steps to get measurements inside this loop!
+ % ===================================================
+
+
% Perform Kalman filter prediction and update
[x, P] = kf_predict(x, P, A, Q);
[x, P] = kf_update(x, P, measuredLocations(l), c', R);
--
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