Merge branch 'master' of gitlab.control.lth.se:letter2martin/turtlerob1

track_audio.m

@@ -43,13 +43,17 @@ par_sub = genParStruct('cc_bBroadband',0,'cc_wSizeSec',winSec,...
 mObj  = manager(dObj,'localization',par_sub);
 
 %% Model parameters
+fs = 24414;
+chunks = 2048;
+dt = chunks/fs;
+sigma_w = 1;
 
-Q = [1/4+1e-3, 1/2; 1/2, 1];                       % Process noise covariance
-R = 1000;                                  % Measurement noise covariance
+Q = [2/4*dt^4, 1/2*dt^3; 1/2*dt^3, dt^2]*sigma_w;                       % Process noise covariance
+R = 1;                                  % Measurement noise covariance
 x = [0; 0];                             % Initial state
 P = [10, 0; 0, 10];                       % Initial state covariance
 
-A = [1, simParams.frameSize; 0, 1];     % System matrix (do not change)
+A = [1, dt; 0, 1];     % System matrix (do not change)
 c = [1; 0];                             % Output vector (do not change)
 
 % Check definiteness of covariance matrices

track_audio_pf.m

+clear;
+close all;
+clc;
+
+% To be modified
+
+
+% % % % % %% Request interaural time differences (ITDs)
+% % % % % requests = {'itd'};
+% % % % %
+% % % % % % Parameters of the auditory filterbank processor
+% % % % % fb_type       = 'gammatone';
+% % % % % fb_lowFreqHz  = 80;
+% % % % % fb_highFreqHz = 8000;
+% % % % % fb_nChannels  = 32;
+% % % % %
+% % % % % % Parameters of innerhaircell processor
+% % % % % ihc_method    = 'dau';
+% % % % %
+% % % % % % Parameters of crosscorrelation processor
+% % % % % cc_wSizeSec  = 0.02;
+% % % % % cc_hSizeSec  = 0.01;
+% % % % % cc_wname     = 'hann';
+% % % % %
+% % % % % % Summary of parameters
+% % % % % par = genParStruct('fb_type',fb_type,'fb_lowFreqHz',fb_lowFreqHz,...
+% % % % %     'fb_highFreqHz',fb_highFreqHz,'fb_nChannels',fb_nChannels,...
+% % % % %     'ihc_method',ihc_method,'cc_wSizeSec',cc_wSizeSec,...
+% % % % %     'cc_hSizeSec',cc_hSizeSec,'cc_wname',cc_wname);
+
+%% Setup objects
+% Initialize localization models using braodband and subband settings
+dObj   = dataObject([],fsHz,10,2);
+
+% Settings for subband approach
+par_sub = genParStruct('cc_bBroadband',0,'cc_wSizeSec',winSec,...
+    'cc_hSizeSec',winSec/2,'cc_maxDelaySec',1.25e-3,...
+    'fb_lowFreqHz',fLowHz,'fb_highFreqHz',fHighHz,...
+    'fb_nERBs',1,'ihc_method','none',...
+    'loc_NSources',nSpeakers(hh));
+
+% Initialize localization models using braodband and subband settings
+mObj  = manager(dObj,'localization',par_sub);
+
+%% Particle filter parameters
+sigma_w = 1; % State noise std
+sigma_v = 1; % Measurement noise std
+fs = 24414;
+chunks = 2048;
+dt = chunks/fs;
+
+Q = [1/4*dt^4, 1/2*dt^3; 1/2*dt^3, dt^2]*sigma_w;                       % Process noise covariance
+R = 1;                                  % Measurement noise covariance
+x = [0; 0];                             % Initial state
+
+A = [1, dt; 0, 1];
+Npart = 100;
+f = @(x) A*x + sigma_w*diag(Q)*randn(1,size(x,2));
+g_density = @(y,x) -0.5/sigma_v * (y-x(1,:)).^2; %% This assumes gaussian noise, try to change to Laplacian noise for robustness
+
+%% Initialization
+
+
+figure(1)
+
+N = 100;
+
+% Initialize posterior mean and covariance
+posteriorMean = zeros(1, N);
+posteriorCovariance = zeros(size(A, 1), size(A, 1), N);
+
+
+% =======================================================
+% Main loop - Perform localization and tracking
+% =======================================================
+for l = 1:N
+    audio = get_audio();
+    
+    % Request processing
+    mObj.processSignal(audio);
+    azimEst = dObj.localization{1}.Data(end,1); % There might be an issue with several sources here!
+    % Perform Kalman filter prediction and update, TODO: consider changing this
+    % crappy filter for a PF
+    [xp, w, expw] = pf( azimEst, xp, w, expw, g_density, f);
+%     [~,I] = max(expw);
+    xh = sum(xp(1,:).*expw);
+    posteriorMean(l) = xh;
+end
+
+% Plot measurements
+subplot(2, nFiles / 2, k);
+timeAxis = linspace(0, nSamples / fsHz, nFrames);
+plot(timeAxis, measuredLocations, 'x', 'LineWidth', 2);
+axis([0, nSamples / fsHz, -90, 90]);
+xlabel('Time / s');
+ylabel('Azimuth / deg');
+grid on; hold on;
+plot(timeAxis, posteriorMean(1, :), 'g', 'LineWidth', 2);
+
+% Plot ground truth
+plot(timeAxis, gtTrajectory, 'r--', 'LineWidth', 2);
+legend('Measurements', 'Estimated trajectory', 'Ground truth');
+
+% Compute RMSE
+rmse = sqrt(sum((posteriorMean(1, :) - gtTrajectory).^2) ./ nFrames);
+
+if ~strcmpi(noiseType, 'none')
+    title([upper(soundType), ', ', upper(noiseType), ' NOISE AT ', ...
+        num2str(snr), ' dB SNR, ', 'RMSE: ', num2str(rmse), '°']);
+else
+    title([upper(soundType), ', NO NOISE, ', 'RMSE: ', ...
+        num2str(rmse), '°']);
+end