do

get_distance.m

-function [d_close, ic_mean] = get_distance(signal, thr)
+function [d_close, ic_mean] = get_distance(signal, thr, plot_)
 % function to get the estimated distance from a binaural measurement with
 % using the interaural coherence
 
@@ -30,9 +30,9 @@ requests = {'ic'};
 
 % Parameters of the auditory filterbank processor
 fb_type       = 'gammatone';
-fb_lowFreqHz  = 300;
-fb_highFreqHz = 2000;
-fb_nChannels  = 8;
+fb_lowFreqHz  = 100; %300
+fb_highFreqHz = 8000; %2k
+fb_nChannels  = 32;
 
 % Parameters of innerhaircell processor
 ihc_method    = 'dau';
@@ -65,16 +65,21 @@ mObj1.processSignal();
 %
 %
 
-plot = 0;
+%plot = 0;
 
-if plot
+if plot_
     % Plot the original ear signal
-    dObj1.plot([],[],'bGray',1,'decimateRatio',3,'bSignal',1);
-    ylim([-1.25 1.25]);
+%     dObj1.plot([],[],'bGray',1,'decimateRatio',3,'bSignal',1);
+%     ylim([-2^16/2 2^16/2]);
     
     % Plot IC
     dObj1.ic{1}.plot;
-    title('Interaural coherence (anechoic)')
+    title('Interaural coherence')
+    
+    lims_x = get(gca, 'Xlim');
+    lims_y = get(gca, 'Ylim');
+    
+    rectangle('Position',[lims_x(1) 6 sum(abs(lims_x)) 19-6], 'LineWidth',4)
     
     % Plot the original ear signal
 %     dObj2.plot([],[],'bGray',1,'decimateRatio',3,'bSignal',1);
@@ -90,7 +95,7 @@ ic_Obj = dObj1.ic;
 ic_Obj = ic_Obj{1}.Data;
 ic = ic_Obj(:);
 
-ic_mean = mean(mean(ic));
+ic_mean = mean(mean(ic(:,6:19)));
 
 if ic_mean >= thr
     d_close = 1;

state_machine.m

@@ -20,7 +20,7 @@ while(true)
     end
     
     % The angle to the source is small enough, take a step forward
-    [there, ic] = get_distance(audio, th_dist);
+    [there, ic] = get_distance(audio, th_dist, 0);
     
     if ~there
         sendPosition.moveRelativePosition('map', step_distance, 0, 0);
@@ -30,6 +30,7 @@ while(true)
     % We are there, analyze the source
     audio = get_audio(12000);
     [source_num,source_name] = analyze_source(audio,fs);
+    [there, ic] = get_distance(audio, th_dist, 1);
     display('Source label determined')
     disp(source_name)