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Commit d00ca4b5 authored by Fredrik Bagge Carlsson's avatar Fredrik Bagge Carlsson
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Should be well prepared for tracking now

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track_audio.m
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...@@ -96,10 +96,10 @@ posteriorCovariance = zeros(size(A, 1), size(A, 1), N); ...@@ -96,10 +96,10 @@ posteriorCovariance = zeros(size(A, 1), size(A, 1), N);
% ======================================================= % =======================================================
for l = 1:N for l = 1:N
audio = get_audio(); audio = get_audio();
% TODO: Put the audio in the data object!
% Request processing % Request processing
mObj.processSignal(); mObj.processSignal(audio);
azimEst = dObj_sub.localization{1}.Data(end); azimEst = dObj.localization{1}.Data(end,1); % There might be an issue with several sources here!
% Perform Kalman filter prediction and update % Perform Kalman filter prediction and update
[x, P] = kf_predict(x, P, A, Q); [x, P] = kf_predict(x, P, A, Q);
[x, P] = kf_update(x, P, azimEst, c', R); [x, P] = kf_update(x, P, azimEst, c', R);
......
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