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Martin Karlsson
turtlerob1
Commits
ff7f28cd
Commit
ff7f28cd
authored
Sep 24, 2015
by
Martin Karlsson
Browse files
yo mannen
parent
babc8d37
Changes
3
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Inline
Side-by-side
get_audio.m
View file @
ff7f28cd
function
signal
=
get_audio
()
function
signal
=
get_audio
(
N
)
global
bass
;
...
...
@@ -18,7 +18,11 @@ end
p
=
bass
.
Audio
();
lastIndex
=
p
.
Audio
.
lastFrameIndex
;
diffIndex
=
lastIndex
-
lastLastIndex
;
if
nargin
<
1
diffIndex
=
lastIndex
-
lastLastIndex
;
else
diffIndex
=
N
;
end
tempLeft
=
cell2mat
(
p
.
Audio
.
left
);
tempLeft
=
tempLeft
(
max
(
end
-
diffIndex
+
1
,
1
):
end
);
...
...
get_audio_loop.m
View file @
ff7f28cd
figure;
%
figure;
allAudioLeft
=
[];
allAudioRight
=
[];
lastLastIndex
=
0
;
lastIndex
=
0
;
count
=
0
;
while count
<
5
while
count
<
60
p
=
bass
.
Audio
();
if
count
==
0
fs
=
p
.
Audio
.
sampleRate
;
...
...
@@ -25,13 +25,13 @@ while count < 5
lastLastIndex
=
lastIndex
;
count
=
count
+
1
plot
(
tempLeft
);
set
(
gca
,'
ylim
',[
-2
^16/2
2^16/2])
drawnow
% plot(tempLeft);
% set(gca,'ylim',[-2^16/2 2^16/2])
% drawnow
end
allAudio
=
[
allAudioLeft
,
allAudioRight
];
bass.Stop
()
%
bass.Stop()
track_audio.m
View file @
ff7f28cd
...
...
@@ -12,9 +12,9 @@ dt = chunks/fs;
%% Setup objects
% Initialize localization models using braodband and subband settings
% Window size in seconds
% Window size in seconds
winSec
=
20E-3
;
% Lowest and highest center frequency in Hertz of the gammatone filterbank
fLowHz
=
80
;
fHighHz
=
8000
;
...
...
@@ -62,7 +62,7 @@ N = 100; % The number of steps to run this stuff.
% Initialize posterior mean and covariance
posteriorMean
=
zeros
(
size
(
A
,
1
),
N
);
posteriorCovariance
=
zeros
(
size
(
A
,
1
),
size
(
A
,
1
),
N
);
measuredLocations
=
zeros
(
N
,
1
);
% =======================================================
% Main loop - Perform localization and tracking
...
...
@@ -70,8 +70,9 @@ posteriorCovariance = zeros(size(A, 1), size(A, 1), N);
display
(
'Entering main loop'
)
tic
();
t_old
=
toc
();
for
l
=
1
:
N
audio
=
get_audio
();
audio
=
get_audio
(
2048
);
t_new
=
toc
();
dti
=
t_new
-
t_old
();
% Request processing
...
...
@@ -88,31 +89,16 @@ for l = 1:N
posteriorMean
(:,
l
)
=
x
;
posteriorCovariance
(:,
:,
l
)
=
P
;
% pause(max(,0))
measuredLocations
(
l
)
=
azimEst
;
% pause(max(,0))
pause
(
0.01
)
t_old
=
t_new
;
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
]);
plot
(
measuredLocations
,
'x'
,
'LineWidth'
,
2
);
xlabel
(
'Time / s'
);
ylabel
(
'Azimuth / deg'
);
grid
on
;
hold
on
;
plot
(
timeAxis
,
posteriorMean
(
1
,
:),
'g'
,
'LineWidth'
,
2
);
plot
(
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
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