mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-01 17:10:26 +08:00
Added CameraStereoImages class to read stereo images from a directory. Added a particle filter to smooth odometry trajectory. Added parameter RGBD/OptimizeEpsilon to limit TORO iterations when error improvement is small. Added Rtabmap/CreateIntermediateNodes parameter: this can be used to keep all odometry poses 'between' nodes used for loop closure detection. Added PnP approach to loop closure constraint estimation. Fixed decimation of stereo images when image size is odd.
This commit is contained in:
matlabbe
17
Matlab/ParticleFilter/pf_filter.m
Normal file
17
Matlab/ParticleFilter/pf_filter.m
Normal file
@@ -0,0 +1,17 @@
|
||||
|
||||
function filtered = pf_filter(x, nParticles, noise, lambda)
|
||||
|
||||
particles = zeros(nParticles,1) ;
|
||||
weights = zeros(nParticles,1);
|
||||
filtered=zeros(1,length(x));
|
||||
for i = 1:length(x);
|
||||
for j = 1:nParticles
|
||||
rn = sqrt(-2.0*log(rand))*cos(2*pi*rand); % randn c++
|
||||
particles(j) = particles(j) + noise*rn ;
|
||||
dist = abs(particles(j) - x(i));
|
||||
weights(j) = exp(-lambda*dist);
|
||||
end
|
||||
weights = weights ./(sum(weights(:)));
|
||||
filtered(i) = weights'*particles;
|
||||
particles = pf_resample(particles, weights);
|
||||
end
|
||||
18
Matlab/ParticleFilter/pf_filter.m~
Normal file
18
Matlab/ParticleFilter/pf_filter.m~
Normal file
@@ -0,0 +1,18 @@
|
||||
|
||||
function filtered = pf_filter(x, nParticles, noise, lambda)
|
||||
|
||||
particles = zeros(nParticles,1) ;
|
||||
weights = zeros(nParticles,1);
|
||||
filtered=zeros(1,length(x));
|
||||
for i = 1:length(x);
|
||||
for j = 1:nParticles
|
||||
rn = sqrt(-2.0*log(rand))*cos(2*pi*rand); % randn c++
|
||||
bruit= noise*rn;
|
||||
particles(j) = particles(j) + bruit ;
|
||||
dist = abs(particles(j) - x(i));
|
||||
weights(j) = exp(-lambda*dist);
|
||||
end
|
||||
weights = weights ./(sum(weights(:)));
|
||||
filtered(i) = weights'*particles;
|
||||
particles = Rresample2(particles,weights);
|
||||
end
|
||||
23
Matlab/ParticleFilter/pf_resample.m
Normal file
23
Matlab/ParticleFilter/pf_resample.m
Normal file
@@ -0,0 +1,23 @@
|
||||
|
||||
function newParticles=pf_resample(particles,weights)
|
||||
pcum = zeros(length(weights),1);
|
||||
sum = 0;
|
||||
for i=1:length(weights)
|
||||
pcum(i) = weights(i) + sum;
|
||||
sum = sum + weights(i);
|
||||
end
|
||||
pcum = pcum./pcum(end);
|
||||
newParticles = 0.*particles;
|
||||
|
||||
%
|
||||
for i = 1:length(newParticles)
|
||||
indexx = 1;
|
||||
randnum = rand;
|
||||
for j = 1:length(pcum)
|
||||
if(randnum < pcum(j))
|
||||
indexx = j;
|
||||
break;
|
||||
end
|
||||
end
|
||||
newParticles(i) = particles(indexx);
|
||||
end
|
||||
67
Matlab/ParticleFilter/test_kinect.m
Normal file
67
Matlab/ParticleFilter/test_kinect.m
Normal file
@@ -0,0 +1,67 @@
|
||||
|
||||
%close all
|
||||
|
||||
% signals
|
||||
index = [1 2 4 5 6 8 10 12 13 14 15 17 18 20 21 23 24 25 26 28 29 31 32 33 35 36 38 39 41 42 43 45 46 48 49 50 51 52 53 55 56 58 59 60 62 63 65 66 68 70 72 73 74 75 77 78 80 81 83 84 86 88 90 91 92 94 95 96 98 100 101 103 105 106 108 109 111 113 114 116 117 118 120 122 123 125 126 128 129 131 132 134 135 137 138 139 141 142 144 145 146 148 149 150 152 153 154 156 157 159 161 162 164 165 167 168 169 171 172 174 176 177 178 180 181 182 184 186 187 188 189 191 193 195 196 198 199 201 202 203 205 206 207 208 210 212 213 216 217 218 220 221 223 224 225 227 228 229 230 232 233 234 236 237 239 240 241 243 244 246 247 249 250 251 253 254 256 257 259 260 262 263 264 265 266 268 269 270 273 274 276 277 280 281 283 284 286 288 289 291 293 294 296 297 299 301 302 303 304 305 307 308 310 311 313 314 316 317 318 320 322 323 325 326 328 329 330 331 333 335 338 339 340 342 343 345 347 348 350 352 354 355 357 359 361 363 365 368 369 370 372 375 378 380 383 386 389 390 392 394 396 398 401 404 407 410 413 415 418 421 423 425 428 431 434 437 440 443 446 449 452 455 459 462 464 467 469 472 475 478 481 484 487 490 493 496 499 501 503 506 509 512 514 517 520 521 523 526 529 531 534 536 538 540];
|
||||
|
||||
stddev = [0 0.00183007 0.00192045 0.00161173 0.00109756 0.0016129 0.00187094 0.00164845 0.00172004 0.00178055 0.00146903 0.00153716 0.00153812 0.00185564 0.00165944 0.00178402 0.00177258 0.0110605 0.0186308 0.00726018 0.0096298 0.00578044 0.0173129 0.010495 0.00641252 0.0140946 0.00828691 0.00646527 0.0134895 0.00693482 0.00649181 0.0181309 0.0131438 0.00996371 0.00707931 0.0103485 0.0061651 0.00802035 0.0132984 0.00562768 0.00741177 0.0116417 0.00769641 0.00804565 0.05021 0.00682934 0.0129143 0.0225555 0.0127159 0.01415 0.0380939 0.0259584 0.0158027 0.0211238 0.0110875 0.0276258 0.0280592 0.0166966 0.0130543 0.0215521 0.0142676 0.0153512 0.0316784 0.0118649 0.0123691 0.0205413 0.0135362 0.0216125 0.0212237 0.00991641 0.0184909 0.0261524 0.0119713 0.0201614 0.0124039 0.0147738 0.0264302 0.0159957 0.0253929 0.0102058 0.0243234 0.0377172 0.0165959 0.0337177 0.0311854 0.0129289 0.0306891 0.0156638 0.0129385 0.0346115 0.0108297 0.0267145 0.0143579 0.0151814 0.0120711 0.0234515 0.010673 0.0141592 0.0133022 0.0140912 0.0109111 0.00720432 0.00984503 0.00544388 0.0150391 0.0120823 0.00699634 0.00620808 0.00564909 0.00469504 0.00484 0.0103237 0.00416761 0.00430465 0.00704729 0.004031 0.00422873 0.00754686 0.00478419 0.00442305 0.00741142 0.00629216 0.00676839 0.0068492 0.00492891 0.00640475 0.00507572 0.010178 0.0131225 0.00749722 0.00502731 0.00653215 0.00653063 0.00557653 0.00488872 0.00889771 0.0062636 0.00854236 0.00660393 0.00829196 0.00756908 0.00466529 0.00435093 0.00407168 0.00518314 0.00739503 0.0108294 0.00535951 0.00556133 0.00516625 0.0107237 0.00540061 0.0066455 0.00579536 0.00673659 0.00604048 0.00707398 0.0170932 0.00686887 0.0070607 0.00701904 0.0063693 0.00857325 0.00773534 0.0148109 0.0138909 0.013436 0.00893684 0.0087548 0.0108629 0.023048 0.011821 0.0163904 0.00790121 0.0069128 0.0110736 0.0111562 0.00968563 0.00775927 0.00795869 0.0080748 0.00909579 0.011114 0.00957061 0.0114517 0.011365 0.0113641 0.012989 0.0115229 0.012728 0.0104824 0.012118 0.0156755 0.0312968 0.0221914 0.0130828 0.0245588 0.00755494 0.00518046 0.00578518 0.0165867 0.0193008 0.0113112 0.0081156 0.00917008 0.00480015 0.0041285 0.0042448 0.00499233 0.00531906 0.00434526 0.00711454 0.00767021 0.00522772 0.00435821 0.00478461 0.00454364 0.00498411 0.00459049 0.00635743 0.00710944 0.00546137 0.00624892 0.0101038 0.00895114 0.00736796 0.00727758 0.00951425 0.0115899 0.00858932 0.0374993 0.0078321 0.00838064 0.0191884 0.0116717 0.0297484 0.0114346 0.0109484 0.02485 0.0117224 0.0167142 0.0107344 0.0188225 0.0123141 0.0273968 0.014611 0.0341862 0.0134783 0.0271164 0.0268258 0.0128071 0.0106398 0.0125586 0.0319245 0.0107098 0.0147609 0.0120215 0.0106572 0.0162843 0.0153122 0.010042 0.011171 0.0121647 0.0102679 0.00730296 0.0124738 0.0115997 0.0179616 0.0140927 0.0130449 0.0104011 0.0146438 0.0114065 0.0157396 0.0135855 0.0128285 0.00754485 0.0305995 0.0181798 0.0192597 0.048465 0.0189101 0.0121396 0.00705945 0.0104833 0.00804011 0.0114006 0.00754285 0.00809562 0.00543453 0.00707061 0.0126759 0.0128725 0.0104646 0.021338 0.00769287 0.00642344 0.00572439 0.00467889 0.00776383 0.00501854 0.0044633 0.00535785 0.00198798 0.00168449 0.00151264 0.00165532 0.0014229 0.0012654 0.00145315 0.00129016 0.00136739 0.00136014 0.00162558];
|
||||
|
||||
x = [0 -4.24346e-05 8.71535e-05 7.73439e-05 8.19646e-05 0.000129101 -0.000123236 -3.81299e-05 -9.68599e-05 -5.53157e-05 0.000115778 -2.39115e-05 0.000118613 0.00010519 3.61086e-05 -5.87477e-05 0.000160884 0.00621398 -0.0120009 0.00291489 0.003279 0.00576099 0.0150894 -0.00203845 0.000224768 0.00938943 -0.00811659 0.00119158 0.00746353 0.000121729 6.94127e-05 -0.00419329 -0.00568876 0.0139627 0.00477986 0.00962919 -0.0013915 -0.00812751 -0.00531474 -0.00482226 -0.00294706 -0.00801682 -0.0120678 -0.00846131 0.00427019 -0.0102197 -0.0124834 -0.0172146 -0.0103388 0.00629085 -0.0235327 0.00480739 -0.012399 0.00482727 -0.0133079 -0.0235706 -0.013214 -0.0103451 -0.0124942 -0.0113611 -0.0147532 -0.0156376 -0.0140083 -0.0117917 -0.00889636 -0.00979012 -0.0130616 -0.0115069 -0.00713748 -0.00853417 -0.0125016 -0.0152137 -0.0137736 -0.017015 -0.00826265 -0.011039 -0.010147 -0.0102702 -0.0115688 -0.00834822 -0.00480605 -0.00944234 -0.00613833 -0.00378726 -0.00531372 -0.00313342 0.0016912 -0.00846053 -0.000238551 0.00999922 0.00545356 0.00835875 0.00236814 0.00551584 0.0107257 0.0192157 0.00484362 0.0160764 0.0151525 0.00104963 0.0101495 0.0084537 0.00141839 0.00637473 0.0137394 -0.000386742 0.00881242 0.00421751 -9.91609e-05 0.00131641 -0.00112953 -0.00849616 0.00188975 0.00111134 0.000226679 0.00372954 0.0044746 0.000745515 0.00419199 0.00522998 0.00256299 0.00610309 0.00232603 0.00656134 0.00905603 0.0075174 0.00816977 0.00727421 0.0137445 0.00779005 0.00792792 0.00653672 0.00822117 0.00938434 0.00731794 0.0107173 0.00811708 0.0119406 0.00695679 0.00982725 0.0147284 0.0119065 0.0124385 0.0122512 0.0137476 0.0108564 0.0148077 0.00818148 0.00425363 0.00718716 0.00917207 0.00465425 0.00723085 0.00538666 0.00288388 0.00340082 0.00374876 -0.00419625 0.00672228 0.00246597 0.00614105 0.0041607 -0.00100455 0.000259257 0.00801794 0.00982123 0.00809857 0.00416525 -0.00185046 -0.00260187 0.0142119 0.0101674 0.0122865 0.00114529 0.000846205 0.00832562 -0.00102725 0.00684259 0.00459711 0.00405431 0.00127849 0.00401698 0.00291901 0.00223591 0.000508513 -0.000883496 -0.00164503 -0.00268374 -0.00238574 -0.00118393 0.000937702 -0.0055201 -0.0073194 0.0152312 0.011294 -0.0086854 -0.0147189 -0.00558232 -0.00394173 0.00198213 0.00608358 -0.0108543 0.00461987 -0.00406849 -0.00326745 -0.000672017 0.00256795 0.00272686 -0.00039404 0.000865531 0.0041187 0.00910968 0.00672891 0.00234949 0.00273352 0.00181897 0.00125234 0.00475895 0.00389612 0.00212937 0.00385255 0.00355574 0.00119965 -0.00219954 0.00283924 0.0045105 0.00317797 0.00898716 0.0114602 0.00378875 0.00679902 -0.00121378 0.00429642 0.00696563 0.0112035 0.000287787 -0.00228596 0.00212873 0.00858424 0.0097049 0.00384796 0.00699805 0.0061758 0.0122655 0.00828882 0.0117052 0.00224441 -0.000388189 0.00874184 0.01205 0.0113738 0.00235464 0.00850786 -0.00388995 0.0111763 0.000643106 0.00639816 0.00978384 0.0052487 0.0127941 0.00993185 0.00441308 0.00313138 -0.00533244 -0.0096972 -0.00973506 -0.00905878 -0.0100051 -0.00301525 0.00448708 0.00885024 0.0112419 0.0165715 0.00982144 0.0109893 0.011797 0.0129021 0.00862637 0.0115569 0.0131937 0.0185587 0.0220149 0.0183705 0.00855004 0.0065538 0.00464233 0.00377284 0.00377567 0.0098812 0.0093124 0.00208854 0.0107114 0.00588716 -0.00395249 -0.0138018 -0.00139743 0.00231474 -0.00210971 -0.00098593 -0.00416663 -0.000202776 -0.000503991 0.00291823 -0.000509565 -0.00013748 6.83721e-05 -6.62129e-05 -5.95589e-06 0.000163029 -2.94313e-05 -1.41226e-06 -0.000127159 0.00013134 -0.00025853];
|
||||
y = [0 0.000204328 -0.000359824 7.60799e-05 -9.37671e-05 -5.80152e-05 -5.49278e-05 0.000120296 0.000109765 0.000342621 -6.31708e-07 -0.000325124 2.26864e-05 0.000213688 0.000144319 0.000240986 0.000209789 -0.0086677 0.0129371 -0.00393705 -0.00240819 -0.00103602 -0.00633166 0.00905698 0.00757496 -0.00216864 0.0126588 0.00563069 0.000585525 0.0093867 0.0127259 0.0111814 0.0333927 0.00932608 0.0160619 0.0021804 0.0121537 0.00945414 0.0325899 0.0149477 0.0227223 0.0196483 0.0188425 0.029973 0.0479662 0.0196213 0.0120299 0.00944461 0.0119208 0.0183874 -0.00192976 0.0143755 -0.000162104 0.00960468 0.00514583 0.00164096 0.00554287 0.00691961 0.00311745 0.00258077 0.00452352 0.00261956 0.00523992 0.00732337 0.00983647 0.00289151 -0.00233132 0.00542192 0.00533552 0.00271515 0.00571588 -0.00239608 -0.000750886 0.00362278 -0.00334313 -0.00153819 -0.000611185 -0.00239244 -0.00338887 -0.000845023 -0.00546571 -0.000248397 -0.000156743 4.33485e-05 0.00194943 0.00384201 -0.00337436 0.00377249 0.00241832 0.00141299 0.00767455 0.00826595 0.0109429 0.0111026 0.00696724 -0.000415096 0.0110438 0.00361291 0.00107296 0.0129179 0.00114137 0.00249299 0.00862582 0.00377351 -0.00451957 0.00962203 -0.0015557 5.56536e-05 0.00136782 -0.00384426 -0.0067822 -0.00139039 -0.00507732 -0.0041727 -0.00435909 -0.00464438 -0.00542727 -0.00391032 -0.00389525 -0.00482716 -0.000177655 -0.00450206 -0.00320455 -0.00202606 -0.00690437 -0.00214849 -0.0044473 -0.00944357 -0.000894671 -0.00796149 -0.0046371 -0.00569116 -0.00547117 -0.00617576 -0.00381936 -0.00761608 -0.00664516 -0.00607395 -0.00741986 -0.00435547 0.000791578 -0.00294566 -0.00471792 -0.00947074 -0.00851501 -0.00565964 -0.00622709 -0.00840516 -0.00855547 -0.00568607 -0.00380322 -0.00484016 -0.00861393 -0.00668283 -0.00647052 -0.00811103 -0.00901533 -0.00616074 -0.00704351 -0.00571293 -0.0072006 -0.00452923 -0.00799317 -0.0106958 -0.010318 -0.00990502 -0.00847562 -0.00616359 -0.00389208 -0.0031538 -0.00541939 -0.00591785 -0.00397182 -0.00323923 -0.0043797 -0.00777217 -0.00716407 -0.00353097 -0.00364774 -0.0043592 -0.00272548 -0.00140546 -0.00137506 -0.00372805 -0.00316043 -0.0042664 -0.00533948 -0.00370825 -0.00949356 -0.00887874 -0.0106823 -0.0057666 0.00114163 -0.0238717 -0.0185981 0.000724678 0.00785414 -0.00517492 -0.00994796 -0.00950159 -0.0174094 0.00158522 -0.0131021 -0.00228096 -0.00421623 -0.00705121 -0.0104503 -0.0109667 -0.0102918 -0.00969282 -0.0110911 -0.00812833 -0.00159531 -0.0049659 -0.00643019 -0.0087362 -0.0100645 -0.00492639 -0.010123 -0.0101391 0.00277095 -0.00151114 -0.00212821 -0.0120646 -0.00629898 -0.00637808 -0.00718914 0.000731233 0.0133484 0.00803888 -0.0114201 -0.0030069 0.00310268 -0.00187037 0.000696273 -0.00652594 -0.00758808 -0.00539047 -0.00455091 -0.00298469 -0.00462718 -0.00434272 -0.0059528 -0.00445012 -0.00729047 -0.00572527 -0.010036 -0.0127272 -0.00523248 -0.00303387 -0.000822378 -0.00691088 -0.00660249 -0.0143434 -0.00203793 -0.0147616 -0.00603344 -0.00145005 -0.00892889 -0.000988243 -0.00505624 -0.00758437 -0.00707416 -0.00871257 -0.0121906 -0.0112068 -0.0108632 -0.0168984 -0.0152977 -0.00964994 -0.00796648 -0.00767111 -0.00484946 -0.00416775 -0.00416906 -0.000244006 -0.00435976 -0.00194637 0.00619571 0.000530164 -0.0129595 -0.00424634 -0.0075872 -0.00930663 -0.0115238 -0.00349045 -0.00358084 -0.00829199 0.00330293 -0.00697479 -0.000493523 -0.013539 -0.000709515 0.00552935 0.011406 0.00095419 -0.0025942 0.00235296 0.000760328 0.00441691 -0.000889965 0.000704515 -0.00292312 0.000802791 -0.00016234 -9.61823e-06 -1.9932e-05 0.000249597 3.93242e-05 -0.000204838 -5.2276e-05 0.000123329 -0.000438072 0.000151965];
|
||||
z = [0 -9.64658e-06 7.03945e-05 9.09483e-05 -0.000363336 -0.000193492 -0.000148889 0.000176356 -3.95041e-05 -7.41365e-05 -0.000638669 0.000226437 0.000136281 0.00015953 3.70733e-05 0.000581939 -0.000185053 0.000278609 -0.0039202 -0.00217225 -0.000538441 0.00511944 0.00411814 -6.7842e-06 0.00825446 0.0149711 0.0185738 0.0190497 0.0169868 0.0140352 0.0158413 0.00650451 0.0376733 0.014573 0.0217949 0.00371955 0.011917 0.0186783 0.0232513 0.0207271 0.00402345 0.0306006 0.00907937 0.00406955 0.0360196 0.0044247 0.0204511 0.0043904 0.00245758 0.0141277 0.00578564 -0.00518898 0.00735867 0.00863949 0.00066754 0.00645226 0.00660007 -0.00193774 0.0001358 0.00239511 0.00376228 -0.00560209 0.00468048 0.00514218 0.00427959 0.00962194 -0.00666892 0.00547005 0.0113137 0.00507462 0.0146809 -0.00753733 -0.00387708 0.000707309 0.00176431 -0.00205749 0.00436884 -0.00324613 0.00251866 0.000456466 0.00851096 -0.00379077 0.00780357 0.000613834 0.00198632 0.000343986 0.00882993 0.00645045 0.00365535 0.00520433 0.00646816 0.00627921 0.00254849 0.00404514 -0.000406334 -0.00153583 0.00284635 0.00095495 -0.000853335 0.00076378 -0.00310709 -0.000534566 0.000581196 -0.00187339 -0.00268137 0.000454393 -0.00326402 0.00179018 0.000687445 0.000546748 0.000607353 0.00388971 0.00168854 0.0028017 0.00227525 0.0043876 0.00392035 0.00228023 0.00298029 0.00317809 0.00610749 0.00420175 -0.00208311 0.00396719 0.0012112 -0.00268455 0.00281126 -0.0092204 0.0121282 -0.00560226 -0.000309605 0.00143829 -0.00334084 0.0039812 -8.42744e-05 0.00386651 -0.00361522 0.00143954 0.00190103 0.000522476 -0.0010711 -0.000751263 0.00468789 0.00365573 0.00291032 -0.000568013 0.000134285 0.00054685 -0.00054511 5.70824e-05 0.0035869 0.000179902 0.00419799 0.00451638 0.001585 0.00300293 0.00123728 0.000520918 0.00209513 0.00105725 0.00251548 0.000833801 0.00226301 0.000671691 0.0074015 0.00373656 0.00456477 0.00450154 0.00290425 -0.000299134 0.00107214 0.0023758 0.0054655 0.00332319 0.00425824 0.000836918 0.00776742 0.000956997 0.00232601 0.00316827 0.00522162 0.00109602 0.00303583 -0.000750361 -0.0023667 0.00120399 0.00126766 0.00083609 -0.00235571 8.67329e-06 0.00230422 0.00413383 0.008764 -0.0066263 0.000925412 0.00556172 0.00621337 0.00197899 -0.0026832 0.00249049 -0.0031991 0.0128274 -0.00813766 0.00700039 0.00605056 -0.000924999 0.00121924 0.00762761 0.000906501 0.00607177 0.00741256 0.00571461 0.0019757 -0.000709287 0.00524741 0.00284413 5.00776e-05 0.00946186 0.0075079 0.00183606 -0.00227517 0.00471794 0.00372035 0.0018374 0.00802605 0.00185333 -0.0047035 0.00742628 0.0142569 0.00707371 -0.0115996 -0.00380477 0.00530422 0.00250482 -0.00317097 0.00267832 0.00227734 -0.00941005 -0.000350822 0.00204698 0.00552164 -0.000160836 -0.0034101 -0.00234024 -0.00373448 -0.00287087 0.0133406 0.00085251 -0.00541296 0.00120797 0.00224371 0.0042547 -0.00159053 0.00826554 0.00149697 0.00388531 0.00121759 -0.00269208 -0.00163956 -0.0115823 -0.000228293 -0.00521276 -0.006834 -0.00751079 -0.00512234 -0.00131513 -0.0102579 -0.00768944 -0.00858772 -0.00162672 -0.00753255 -0.00359731 -0.00636032 -0.00375445 -0.00828524 -0.00457094 -0.000285845 0.0057742 0.0151166 -0.000743146 -0.0124465 0.00427572 -0.01353 -0.0103443 -0.0173464 -0.010804 0.00524001 -0.0103347 -0.00637103 -0.01197 -0.00308789 -0.0122685 0.00841686 -0.0105636 -0.00169108 -0.00256534 0.00272505 0.000674399 -0.000668501 0.00244924 -0.000958637 0.000649232 -0.000521342 -0.000155389 0.00024492 6.96772e-05 0.000150486 -0.000123244 1.85501e-06 -0.000152994 -0.000187548 9.34349e-05 -0.000212637 0.000369026];
|
||||
|
||||
roll = [0 -0.00697247 0.011439 -0.0037672 0.00391318 0.00124693 0.0030287 -0.00448122 -0.00347616 -0.0100247 0.00208189 0.0100625 -0.00181607 -0.011119 -0.00362276 -0.0116096 -0.00818997 -0.0343405 -0.706642 0.595677 0.203868 0.390061 1.04302 -0.154686 -0.177945 -0.212443 -0.9854 0.113863 0.279816 -0.546618 -0.436199 -2.37908 -2.08871 0.0553227 -0.510254 0.180382 -0.958035 -1.40451 -2.38267 -1.12667 -1.75796 -1.13053 -2.63525 -2.60907 -3.58601 -2.52121 -1.79654 -2.25613 -1.33478 -0.732903 -0.9298 -1.47892 -0.380567 -2.02699 -2.13208 -2.24147 -2.18517 -2.52275 -1.79502 -1.37363 -1.88748 -1.03175 -1.65507 -1.38477 -0.399072 -0.40913 -1.59339 -1.60899 -0.863818 -0.991065 -1.57005 -1.64782 -1.7006 -2.22423 -0.83406 -1.46165 -0.843498 -0.850411 -1.12993 -1.07788 -1.37277 -2.00294 -1.33077 -1.40567 -1.8182 -1.64814 -1.8247 -1.90814 -1.44697 -1.8769 -1.93877 -1.46014 -0.793834 -0.629669 -0.301444 -1.32545 -1.30499 -1.20415 -1.4845 -1.58845 -1.34412 -1.74224 -2.00197 -1.53316 -1.68767 -2.06981 -1.59841 -1.49462 -1.48013 -1.15663 -1.35156 -1.39071 -1.25367 -1.49356 -1.44043 -1.13617 -1.15862 -1.05363 -0.743625 -1.10127 -1.00328 -0.573638 -0.618629 -1.68267 -1.02222 -1.2801 -0.653413 -0.506172 -1.2871 -0.495107 -0.361678 -0.493461 -0.762048 -1.4813 -0.441775 -0.531445 -0.551943 -1.37474 -1.5587 -1.70981 0.208783 0.0606307 -0.265095 -0.676214 -1.16917 -1.69928 -1.38808 -0.686836 -0.478791 -0.543355 -0.951801 -1.10595 -1.32134 -1.09503 -1.2005 -1.41269 -2.37385 -1.00221 -1.36333 -0.722503 -0.800073 -0.199508 -1.32356 -1.11201 -0.803518 -0.372442 -0.699338 -0.716352 -0.178544 -0.627999 -1.17488 -1.45338 -1.70703 -1.46451 -1.83811 -1.37418 -1.36829 -1.56187 -1.8804 -2.02195 -1.23298 -1.32484 -1.36442 -1.19876 -1.05828 -0.79918 -1.14581 -1.26577 -1.6265 -1.91479 -1.76773 -1.67093 0.0926437 0.0319117 -0.333926 -1.41818 -1.17289 -1.52312 -1.84482 -1.38148 -1.46084 -3.27883 -0.549232 -1.75344 -1.06523 -0.537597 -0.630611 -0.969317 -1.32225 -1.92723 -1.27726 -1.5211 -1.12751 -0.428813 -0.807155 -0.574223 -0.952206 -1.10544 -1.34586 -1.65117 -1.62982 -1.53227 -1.05804 0.0488398 -0.953483 -1.00224 -0.657381 -0.868573 -1.65495 -1.79803 -1.18743 -0.0486594 -1.21401 -1.72776 -1.49407 -1.17884 -1.25465 -1.73811 -0.952386 -0.668799 -0.78184 -1.38569 -0.832198 -1.10262 -0.931131 -0.717825 -1.14293 -1.34193 -1.47225 -1.24035 -0.255386 -0.51049 0.249707 -0.578932 -0.112682 -0.649949 0.0897079 -0.161068 -0.540194 -0.162269 -0.422191 -0.454308 0.575092 0.000792985 0.591403 -0.220016 -0.0570524 -0.460092 -0.851059 -0.544888 0.265254 -0.165818 0.95184 0.00759833 -0.523103 -0.0706023 1.23796 0.403462 -0.0332513 1.4473 3.71438 1.40783 2.70682 1.59649 0.845672 0.921996 0.840801 1.86878 2.44023 2.72089 1.05189 1.47246 1.07162 0.470408 -0.573698 -0.780683 -0.517149 0.180919 -0.136984 -0.328051 -0.739093 0.0983447 0.021223 -0.0187313 0.00106841 -0.00111421 0.00227972 -0.00775409 -0.0021896 0.00944541 0.00373123 -0.0038741 0.0147257 -0.00457401];
|
||||
pitch = [0 -0.00229179 0.000499854 -0.00071162 0.003954 -0.00227537 0.000171042 -0.00431982 0.00310028 0.000464334 0.00325114 0.00218017 -0.000226423 -0.00666426 0.0040347 -0.00572827 -0.00252566 0.409739 -0.106965 0.422755 0.6149 1.00093 0.85863 -0.440056 -0.732248 -0.618373 0.675355 -0.377637 0.42139 0.455565 -0.306133 -0.0858105 0.380259 -0.817764 -0.464705 -0.382899 -0.608065 -0.081234 1.74275 -0.573262 0.260839 0.622831 0.783492 0.259257 -0.153289 0.124555 -0.161443 -0.327383 0.752554 0.665943 -0.633409 1.04821 2.11617 0.263793 0.429431 0.126911 0.784859 0.749246 -1.7759 -0.326125 -0.40169 0.583243 0.757008 0.654661 0.669717 0.969141 1.39932 2.11495 1.05803 0.175636 -0.126807 0.124209 1.24958 1.48403 0.71194 0.779027 0.970415 0.41065 0.897172 1.12004 1.26689 1.20792 0.821871 0.860311 0.837231 0.867408 0.530834 0.882044 1.03845 1.19206 0.918048 0.832736 0.611604 0.683121 0.636224 0.744393 1.03378 1.01271 1.49852 1.15168 0.943035 1.20495 0.865091 0.951612 1.21074 1.52488 1.21162 0.850206 0.572902 0.630126 0.684501 0.455256 0.623057 0.505167 0.449704 0.582241 0.374617 0.260643 -0.0204377 0.0256043 -0.26454 -0.319661 -0.0751296 0.32799 0.196522 0.0518103 0.382681 0.3405 0.347285 0.39426 0.388134 -0.339197 0.704119 0.272995 0.281863 -0.424403 0.346723 1.45742 0.276316 0.688671 0.321258 0.0583006 0.140622 0.94608 0.726127 0.757012 1.47441 1.67256 1.41073 0.889791 1.05242 1.17434 1.42673 1.1505 0.668725 0.474379 -0.85654 0.404712 0.177909 0.735431 0.507653 1.32758 0.992634 0.730767 1.74019 1.00772 0.948151 0.836323 0.941635 0.119619 0.158425 0.895213 0.644582 0.152967 0.799178 0.785468 1.37186 0.67333 0.512899 0.746732 -0.109947 0.563172 0.222358 -0.353246 -0.539362 -1.02317 -1.23095 -0.34159 1.01101 1.54783 1.71109 1.26118 1.7363 0.387466 0.254116 -0.090165 -0.0951025 -0.03808 0.947861 0.364725 0.237979 0.0200293 -0.0453891 0.31848 0.916517 0.691965 0.577344 0.63224 0.072274 0.687555 0.754695 0.727415 0.412926 0.368177 0.320089 0.298686 0.352057 0.0202537 -0.0360367 0.714147 0.151168 -0.131895 0.790423 0.397934 0.207399 0.210421 0.553233 0.136282 0.361315 0.694285 1.19553 0.346202 0.820755 0.913812 0.96262 0.531157 0.252745 0.317119 0.575038 0.752224 0.505492 0.900339 0.0876113 0.77845 0.673826 0.298813 -0.220698 0.140829 0.224464 0.169208 0.597158 -0.0845539 0.82377 -0.85227 0.197967 0.231534 -0.0349389 -0.136615 0.444754 -0.198224 -0.530315 -0.873437 -0.293603 0.0188371 0.415711 -0.536511 0.251122 -0.0210569 0.354703 -0.301084 0.359748 -0.204457 -0.340254 -1.98404 -0.14539 -0.278535 -1.04035 -0.646792 -0.353741 0.198721 -0.698947 -0.253543 -0.479373 -0.998304 0.329982 -0.0150488 -0.232996 0.11367 -0.263232 -0.656289 -0.316895 0.235207 0.276941 0.805215 -0.739925 -0.018484 -0.268712 0.115287 -0.0447731 -0.00582324 -0.0905591 0.0474295 0.0073314 -0.00392141 -0.000782993 0.00241239 -0.00109896 0.00113237 -0.00180142 0.0030126 0.00394887 0.0014572 0.000337865 7.99176e-05];
|
||||
yaw = [0 -0.000161686 0.0032161 0.00257986 -0.0148895 -0.00775527 -0.0066706 0.00822511 2.74797e-05 -0.00120073 -0.0232415 0.0100288 0.00670114 0.0100244 0.00112335 0.0232722 -0.00544454 -0.430297 0.197413 0.318077 1.19285 0.824785 0.522653 -0.166473 0.697412 -0.127265 1.36169 0.831942 0.756734 -0.247735 -0.508298 -0.983596 0.353067 0.215551 0.432429 0.216151 0.0397583 0.627661 1.3034 0.171752 -0.0724861 1.29244 0.495153 -1.94984 1.68422 -0.493211 0.499761 0.585196 1.1265 1.43676 0.991768 0.831315 0.977594 0.840594 -0.354331 0.778799 0.66594 0.564547 1.24686 1.49184 1.34736 -0.208165 0.506705 0.283346 0.599432 0.850818 0.869317 0.913312 0.614873 0.79196 -0.0188216 -0.247626 -0.239266 0.309909 -0.0584155 -0.0377374 -0.028739 -0.746392 0.0755308 0.181368 0.118504 -1.02735 -0.13515 -0.331222 -0.567641 0.329769 -0.296064 -0.974358 -0.140646 0.244365 0.25554 -0.163399 0.0851915 0.258937 0.0142945 -0.625995 0.113146 -0.307074 -0.440209 0.164854 -0.187281 -0.107339 -0.605807 0.194123 -0.0617479 -0.0317805 0.0771855 -0.0184895 -0.708873 -0.27359 -0.497444 -0.420419 -0.496697 -0.503741 -0.788029 -0.586933 -0.692232 -1.20842 0.278887 -0.346126 0.0570406 -0.124973 0.309732 -0.524967 -0.139757 0.115098 0.0836262 -0.443537 1.08471 0.17619 -0.271993 -0.219413 -0.777199 -0.302626 -0.368529 0.765426 0.194521 0.714603 -0.390747 -0.144703 0.85836 0.996679 0.524187 0.34606 0.381368 -0.418374 0.51134 0.0741821 0.453409 0.575322 -0.204904 -0.129898 -0.550175 -0.449117 -0.364079 -0.551881 -0.539426 -0.195489 -0.376189 0.0524624 0.0870607 0.373965 -0.592063 0.120945 0.805568 0.30351 -0.387133 -0.64074 -0.0218592 -0.0372922 -0.151495 0.136863 -0.766291 -0.90385 -1.13801 -0.865704 -0.0904608 -1.47664 -1.27541 -0.735828 -0.354242 -0.384258 -0.638418 -1.00881 -0.614472 -0.486547 -0.274801 0.132622 0.715475 1.61421 0.940596 0.709336 1.19849 -0.00257673 -0.180559 -1.08725 -0.636779 -0.649876 -0.409159 -0.192793 -1.02339 -0.510792 0.224068 0.597195 1.54105 0.535605 0.723087 0.730369 -0.371158 0.275971 0.144074 0.302977 0.285828 -0.883684 -0.360669 0.0180366 -0.292566 0.188446 -0.140343 -0.407566 -0.662773 -0.6005 -1.12309 -0.648977 -0.477609 0.0492447 -0.322557 -0.273662 0.253909 0.100575 -1.09786 0.154206 1.03418 0.572754 0.12635 -0.0903762 0.0308006 0.131756 0.0105281 -0.491536 -0.141761 -0.94862 0.414641 0.271906 0.604514 0.427947 -0.0365438 0.277222 0.0283782 0.657427 0.724527 -0.295281 0.22394 -0.858543 0.172253 -0.0814776 0.0564259 0.118736 -0.283271 0.592259 0.62106 0.258227 0.0823895 0.133218 -0.114389 0.159368 0.41058 0.408956 -0.23241 0.0399566 -0.378538 -0.470384 0.14432 -1.03465 -0.46647 -0.387396 -0.81182 -1.71838 -0.2637 -0.897728 -1.75969 1.10463 -1.08475 -1.08329 -0.132061 0.0132544 -0.238716 -0.390951 -1.36424 -2.35338 -1.49625 -0.684186 0.293722 -0.105389 -1.0492 -0.316408 -0.792347 0.0951415 0.176206 0.325846 -0.0698992 -0.100712 0.0210328 -0.00260751 0.0101087 0.00475391 0.00586795 -0.00439265 -0.000228314 -0.00558726 -0.00652761 0.00306191 -0.00700772 0.0135158];
|
||||
|
||||
roll = roll * pi / 180; % to radian
|
||||
pitch = pitch * pi / 180; % to radian
|
||||
yaw = yaw * pi / 180; % to radian
|
||||
|
||||
|
||||
%parameters
|
||||
n = 400;
|
||||
noiseT = 0.002;
|
||||
lambdaT = 100;
|
||||
noiseR = 0.002;
|
||||
lambdaR = 100;
|
||||
|
||||
%filter
|
||||
x_filtered = pf_filter(x, n, noiseT, lambdaT);
|
||||
y_filtered = pf_filter(y, n, noiseT, lambdaT);
|
||||
z_filtered = pf_filter(z, n, noiseT, lambdaT);
|
||||
roll_filtered = pf_filter(roll, n, noiseR, lambdaR);
|
||||
pitch_filtered = pf_filter(pitch, n, noiseR, lambdaR);
|
||||
yaw_filtered = pf_filter(yaw, n, noiseR, lambdaR);
|
||||
|
||||
%show
|
||||
figure
|
||||
subplot(4,1,1)
|
||||
plot(index,x,'b', index,x_filtered,'r');
|
||||
legend('x', 'x filtered');
|
||||
subplot(4,1,2)
|
||||
plot(index,y,'b', index,y_filtered,'r');
|
||||
legend('y', 'y filtered');
|
||||
subplot(4,1,3)
|
||||
plot(index,z,'b', index,z_filtered,'r');
|
||||
legend('z', 'z filtered');
|
||||
subplot(4,1,4)
|
||||
plot(index,stddev,'b');
|
||||
legend('stddev');
|
||||
|
||||
%show
|
||||
figure
|
||||
subplot(4,1,1)
|
||||
plot(index,roll,'b', index,roll_filtered,'r');
|
||||
legend('roll', 'roll filtered');
|
||||
subplot(4,1,2)
|
||||
plot(index,pitch,'b', index,pitch_filtered,'r');
|
||||
legend('pitch', 'pitch filtered');
|
||||
subplot(4,1,3)
|
||||
plot(index,yaw,'b', index,yaw_filtered,'r');
|
||||
legend('yaw', 'yaw filtered')
|
||||
subplot(4,1,4)
|
||||
plot(index,stddev,'b');
|
||||
legend('stddev');
|
||||
|
||||
|
||||
50
Matlab/ParticleFilter/test_kinect.m~
Normal file
50
Matlab/ParticleFilter/test_kinect.m~
Normal file
@@ -0,0 +1,50 @@
|
||||
|
||||
|
||||
% signals
|
||||
x = [0 -7.17718e-06 0.000149943 -0.000276212 0.000118147 0.000132833 -7.68572e-05 -0.000388181 6.57036e-05 0.000244131 -0.000265382 0.000674275 -6.0332e-05 0.000352076 0.00041996 -0.000758339 0.00210934 0.000399089 -0.000409156 0.0047982 0.0039244 0.00435027 0.00485974 0.00346061 0.0018604 -0.000905861 0.00250076 0.00214402 0.000318011 -0.00352464 0.00774855 0.00641464 0.00011028 0.00181151 -0.00313881 -0.00159122 0.000872649 -0.00925038 -0.0109046 -0.0279911 -0.00284128 -0.00634648 -0.00987577 -0.00809708 0.00135329 0.00141078 -0.00508487 -0.00524154 -0.0157128 -0.0154952 -0.00648952 -0.011292 -0.00702953 -0.0134704 -0.0102974 -0.0237573 -0.0113637 -0.0136848 -0.0134357 -0.0167649 -0.00662601 -0.00718927 -0.0167545 -0.0117351 -0.00313139 -0.0128256 -0.00886583 -0.00601757 -0.00631785 -0.0136913 -0.0130796 -0.00640869 -0.000587583 -0.00776267 -8.30889e-05 -0.00764275 -0.0047673 -0.00250125 0.00450075 -0.00641263 -0.000849128 0.00847131 0.00656557 0.0119401 0.0175035 0.0104212 0.00938523 0.00605232 0.00872052 0.01063 0.00795197 0.00730991 0.00414711 0.00778383 0.0057314 0.00532299 0.00678048 0.00635234 0.00429028 0.00268266 0.00285921 -0.00125447 -0.00343326 -0.00295475 0.00206432 0.00212367 0.00511998 0.00407538 0.00399027 0.00342568 0.00493171 0.00332177 0.00336831 0.00544102 0.00988577 0.00802416 0.00964469 0.0067216 0.00695488 0.0103022 0.0071584 0.00841331 0.00945374 0.00898707 0.00970355 0.00735274 0.00824642 0.00641495 0.00757965 0.00610715 0.00713819 0.00928026 0.012055 0.0105106 0.0118662 0.0122392 0.0104792 0.00808734 0.00854826 0.00684047 0.0085988 0.00592375 0.0052588 0.00384319 0.00372607 0.00494432 0.00475228 0.00364202 0.00258315 0.00617284 0.00378108 0.00530612 0.00723338 0.00106525 -0.000163257 0.00137579 0.00218695 -0.0012542 0.00378215 0.002096 0.00185335 0.00194138 0.00380033 0.0037328 0.00214076 -0.000261605 0.00554895 0.00190693 0.00482333 0.00412196 0.00433248 0.0032922 0.00149733 -0.00198263 -0.00465655 -0.00101215 -0.00452882 -0.00389808 0.00365704 0.00196409 -0.00150266 0.00132278 7.86781e-06 -0.000436306 -0.000997692 -0.00151774 -0.00290582 -0.000986993 -0.00202984 -0.00306979 -0.000241861 -0.0023663 -0.000143617 -0.000616923 0.00071498 -0.00136444 0.000806952 0.00092167 0.00274599 0.000827327 0.00379314 0.00362612 0.0028308 0.00371683 0.00211945 0.000794172 0.00338793 0.00358349 0.00317407 0.00381386 0.00329965 0.0061408 0.00434172 0.000996351 0.00116277 0.00479227 0.00521219 0.00549781 0.00172538 -0.000565588 0.00500929 0.00481606 0.0127962 0.00188589 0.00616825 0.00509858 0.00305247 0.00618845 0.000248432 0.00634307 0.00892508 0.0057171 0.00271344 0.00343686 0.0140943 0.00703895 0.00574613 0.0124045 0.00739682 0.00651699 0.020498 -0.0110877 0.00433773 0.0106311 0.00961483 0.0140001 0.00312042 0.0108534 0.00135618 0.00830334 0.0153873 0.0108157 0.0169969 -0.00464851 0.00816596 0.0118423 0.00561047 0.00855923 0.00718778 0.0125443 0.00616348 0.00718147 0.00534147 0.00167203 -0.00419921 -0.00742251 -0.00552565 -0.00556844 -0.0102499 -0.0138872 -0.0103608 -0.00935405 -0.00743747 -0.00296772 -0.00247735 0.00845826 0.00505942 0.00908333 0.013812 0.00857067 0.0182686 0.00592947 0.0126474 0.00578821 0.0194814 0.00121719 0.0182926 0.0109192 0.0115457 0.014065 0.00213802 -0.0102426 0.00826228 0.00567901 0.0131235 0.0350397 0.0167757 0.0172057 0.0183465 0.0198563 0.0193069 0.01778 0.0103664 0.00986159 0.00473499 0.00137529 0.00420779 0.00812897 0.000113249 0.00592332 0.00339369 0.0012721 0.010083 0.00799991 0.00702102 0.00649881 0.0030404 0.00210004 -0.00165895 0.00292256 -0.00186083 0.00441258 0.00263329 -0.002474 4.10676e-05 0.000647455 -0.00121567 -0.000948012 0.000322014 0.000219762 -0.00038138 0.000393793 0.000276357 -0.000241026 -0.00152412 0.000302628 -0.000860468 -0.000610992 0.000937909 0.00117072 -0.000948384 -0.000560746 0.000261694 0.000298828 5.32866e-05 -0.000208184 -0.000209108 -0.000162363 -0.000302538 -0.000584394 0.000218138 -0.000334874 0.000398353 -0.000544533 0.0006098];
|
||||
y = 1;
|
||||
z = 1;
|
||||
|
||||
roll = 1;
|
||||
pitch = 1;
|
||||
yaw = [0 0.0138625 -0.0205169 0.0508271 -0.03702 0.0216298 -0.0071385 0.0486512 -0.0353205 0.0356788 0.0621803 -0.0675504 -0.0610086 0.0191248 -0.0686484 0.078647 -0.215955 0.222853 0.535986 -0.157076 0.239414 0.648483 -0.00482519 -0.0347738 -0.857926 -0.185939 -0.0811504 -0.333544 -0.922141 -1.57654 -0.104422 -0.212015 -1.09698 -1.808 -1.44291 -1.66115 -1.19908 -2.86579 -2.17578 -2.45784 -0.599695 -1.24934 -1.20622 0.219747 -0.348318 -1.18928 -0.53417 -1.82522 -2.2156 -2.53528 -2.64981 -1.21297 -1.67351 -1.94906 -1.13474 -1.1618 -0.51443 -0.27769 -1.8986 -1.57831 -1.25621 -0.86068 -1.6979 -1.55513 -1.92766 -2.04434 -0.852749 -0.95132 -1.20863 -0.748142 -1.04782 -1.19536 -1.37872 -1.89795 -1.37617 -1.31626 -1.93325 -1.511 -1.98064 -2.62878 -1.99733 -1.65566 -1.88769 -1.49137 -1.24202 -1.08672 -0.297613 -1.55247 -1.24222 -1.3313 -1.62514 -1.51867 -1.40812 -1.58506 -1.80194 -1.57594 -1.90908 -1.70978 -2.04307 -1.28751 -1.33265 -0.819239 -1.36529 -1.11071 -1.51813 -1.44329 -1.19389 -1.21335 -1.15439 -1.07836 -0.652882 -0.716911 -0.64296 -1.20633 -1.55259 -0.952261 -1.16282 -0.571938 -0.966765 -1.18008 -0.336663 -0.682695 -0.839598 -0.590307 -1.31757 -0.372847 -0.334298 -0.542365 -1.82461 -1.38264 -1.54329 -0.474113 0.131601 -0.165138 -0.712546 -1.3513 -1.48896 -1.70229 -1.11744 -1.26407 -0.898101 -0.475791 -0.505334 -0.911445 -1.05962 -1.34112 -1.11278 -1.09297 -2.30311 -1.36669 -1.50016 -0.731569 -0.974022 -1.34955 -0.962003 -0.724183 -0.492458 -1.18278 -0.0750827 -0.101046 -1.20587 -1.46872 -1.70565 -1.60328 -1.83232 -2.88432 -1.32855 -1.45884 -1.94864 -1.21744 -1.36144 -1.46579 -1.19324 -0.777264 -1.14617 -1.4781 -1.74714 -2.0015 -1.77974 -1.7534 -0.743309 -0.598297 -0.35454 -0.539937 -0.557158 -1.05504 -0.858589 -0.894771 -1.53595 -1.7775 -1.42647 -1.7212 -2.99655 -0.463739 -1.71624 -1.23245 -0.813187 -0.416194 -0.669693 -1.22522 -1.88152 -1.80743 -1.10323 -0.916615 -0.794212 -0.918734 -0.706259 -0.961836 -0.99244 -1.34899 -1.69983 -1.23063 -0.883386 -1.08027 -0.882478 -1.09176 -0.65819 -0.790655 -0.866973 -1.47657 -1.50859 -1.29712 -0.764263 0.0414162 -1.15544 -0.753635 -1.30834 -0.898253 -1.30238 -1.43098 -0.56996 0.115919 -1.03715 -1.0479 -1.21217 -1.05506 -1.07723 -1.2435 -0.484735 -0.48917 -1.23569 -1.49113 -1.37683 -1.7992 -0.595289 -0.729136 -0.59366 -2.04639 -0.0944586 0.335957 -0.773459 0.644048 -0.417065 -0.951768 -0.705456 0.0222041 -0.144679 -0.64648 -0.064453 0.627685 -0.529511 -0.529965 0.21694 0.53353 0.133591 0.0725028 0.349745 0.0435301 -0.00884339 -0.0296694 0.0036566 0.217436 -0.526511 -0.512979 -1.32967 -0.491154 0.224525 0.609691 -0.30598 1.04681 1.11591 -0.342271 0.181812 1.00252 -0.569827 -0.174485 0.621023 1.15114 0.85475 1.17868 0.418458 0.132773 0.09667 0.105433 3.05352 3.43917 1.56984 1.66762 1.91426 2.8391 2.61215 2.92371 1.4164 1.0191 0.490665 0.341318 1.48112 0.901748 0.991522 1.52663 1.06743 1.60625 2.42876 2.18304 1.5142 1.05712 1.21268 1.40639 -0.539377 1.00853 -0.254121 0.662136 0.29893 -0.0109695 0.387949 -0.573484 -0.838396 -0.198825 0.040522 -0.29886 -0.368194 0.130778 -0.474338 -0.762008 0.0665195 0.155289 0.0655191 -0.0332738 0.0774652 -0.000751732 0.0230952 0.0195789 -0.000320425 -0.00322251 -0.026999 0.000401567 0.0640858 -0.0439683 0.0527193 0.00422349 -0.0218244 0.0171353 -0.0126251 -0.0419359 0.03175];
|
||||
roll = roll * pi / 180; % to radian
|
||||
pitch = pitch * pi / 180; % to radian
|
||||
yaw = yaw * pi / 180; % to radian
|
||||
|
||||
|
||||
%parameters
|
||||
n = 400;
|
||||
noiseT = 0.005;
|
||||
lambdaT = 100;
|
||||
noiseR = 0.005;
|
||||
lambdaR = 150;
|
||||
|
||||
%filter
|
||||
x_filtered = pf_filter(x, n, noiseT, lambdaT);
|
||||
y_filtered = pf_filter(x, n, noiseT, lambdaT);
|
||||
z_filtered = pf_filter(x, n, noiseT, lambdaT);
|
||||
roll_filtered = pf_filter(roll, n, noiseR, lambdaR);
|
||||
pitch_filtered = pf_filter(pitch, n, noiseR, lambdaR);
|
||||
yaw_filtered = pf_filter(yaw, n, noiseR, lambdaR);
|
||||
|
||||
%show
|
||||
index = 1:length(x);
|
||||
|
||||
figure
|
||||
plot(index,x,'b', index,x_filtered,'r');
|
||||
hold on;
|
||||
plot(index,y,'c', index,y_filtered,'m');
|
||||
plot(index,z,'g', index,z_filtered,'y');
|
||||
legend('x', 'x filtered', 'y', 'y filtered', 'z', 'z filtered')
|
||||
|
||||
%show
|
||||
figure
|
||||
plot(index,roll,'b', index,roll_filtered,'r');
|
||||
hold on;
|
||||
plot(index,pitch,'c', index,pitch_filtered,'m');
|
||||
plot(index,yaw,'g', index,yaw_filtered,'y');
|
||||
legend('roll', 'roll filtered', 'pitch', 'pitch filtered', 'yaw', 'yaw filtered')
|
||||
legend('yaw', 'yaw filtered')
|
||||
|
||||
|
||||
28
Matlab/ParticleFilter/test_kitti_datasets.m
Normal file
28
Matlab/ParticleFilter/test_kitti_datasets.m
Normal file
@@ -0,0 +1,28 @@
|
||||
|
||||
|
||||
clc
|
||||
clear all
|
||||
close all
|
||||
|
||||
% position (x)
|
||||
x=[0 0.0958093 0.102248 0.121139 0.14751 0.168275 0.180045 0.189047 0.203946 0.213641 0.22573 0.243683 0.245992 0.254727 0.260212 0.246672 0.259118 0.273364 0.295793 0.317168 0.319033 0.330263 0.291336 0.342969 0.373641 0.406199 0.451661 0.49569 0.52575 0.558851 0.595505 0.617386 0.635253 0.663907 0.695187 0.721908 0.748228 0.775707 0.798103 0.817422 0.81696 0.834573 0.859951 0.866837 0.861447 0.859494 0.863317 0.86665 0.856142 0.861513 0.869291 0.86055 0.858222 0.850158 0.86469 0.853298 0.849211 0.85666 0.846806 0.834052 0.818975 0.816591 0.818847 0.812942 0.804087 0.802885 0.799035 0.793771 0.782671 0.783806 0.753611 0.735965 0.718761 0.70112 0.68173 0.637936 0.59822 0.570844 0.546408 0.503599 0.481603 0.481476 0.468762 0.468941 0.464934 0.457286 0.468546 0.449624 0.423916 0.398509 0.448139 0.463816 0.524683 0.543314 0.585886 0.629963 0.642661 0.689202 0.733252 0.720786 0.747091 0.769375 0.796756 0.804347 0.805587 0.792853 0.785854 0.791591 0.775623 0.772854 0.774293 0.775352 0.778641 0.773735 0.763698 0.770237 0.764968 0.782758 0.790375 0.794311 0.801609 0.807287 0.817432 0.834678 0.854601 0.860135 0.857215 0.876742 0.880283 0.885587 0.895356 0.901144 0.891045 0.904938 0.88169 0.875238 0.873543 0.879889 0.858548 0.848491 0.845521 0.832916 0.82651 0.817256 0.81536 0.807806 0.80487 0.789718 0.788688 0.790668 0.786018 0.783837 0.776029 0.766569 0.76899 0.772462 0.753362 0.75065 0.760805 0.771717 0.752581 0.777233 0.771257 0.784665 0.789536 0.783277 0.768278 0.775663 0.782527 0.801327 0.773798 0.783786 0.782585 0.777043 0.765654 0.757504 0.75159 0.745206 0.745253 0.694793 0.657977 0.627305 0.587667 0.558428 0.507883 0.429494 0.354626 0.276308 0.221929 0.216919 0.222186 0.2257 0.21829 0.21727 0.220388 0.234087 0.271358 0.365188 0.397868 0.464485 0.436238 0.473228 0.516054 0.581783 0.66704 0.702402 0.772848 0.836386 0.870549 0.883748 0.890929 0.9015 0.933377 0.993732 1.01464 1.01678 1.01107 1.00868 1.01584 1.0091 1.01149 1.00289 0.992969 1.00104 0.999807 1.00424 1.00244 1.00696 0.999669 0.989008 0.995648 0.977475 0.976959 0.986356 0.969375 0.973117 0.970714 0.96257 0.956754 0.954274 0.92185 0.935669 0.933797 0.918595 0.86588 0.831554 0.800549 0.77171 0.756608 0.738918 0.707971 0.681183 0.654234 0.644363 0.619473 0.607539 0.589974 0.569724 0.538563 0.524551 0.521722 0.497904 0.486697 0.453492 0.43853 0.449554 0.472133 0.481396 0.487145 0.49219 0.520493 0.56075 0.603805 0.616122 0.687576 0.726017 0.756402 0.862825 0.926746 0.974142 0.960781 0.925374 0.932887 0.938424 0.948403 0.924803 0.914451 0.920006 0.874211 0.873257 0.888927 0.905825 0.908478 0.932547 0.975009 1.03873 1.0638 1.06204 1.07596 1.07522 1.06945 1.05537 1.07162 1.03632 1.03053 1.02946 1.01674 1.0092 0.98566 0.979956 0.946627 0.933132 0.904111 0.826381 0.789019 0.738187 0.717317 0.656708 0.490356 0.434063 0.3134 0.213561 0.18305 0.174464 0.13647 0.127878 0.0663346 0.018491 -0.00133265 0.000999137 -0.00121855 0.000119434 0.000319056 3.22909e-05 -0.000269401 -0.000233193 0.00030071 -0.000469815 -5.96254e-05 0.000130806 9.13643e-05 2.98268e-05 4.07632e-05 7.35067e-05 0.0153078 0.0186766 0.0295282 0.0543363 0.0719927 0.086474 0.126864 0.161484 0.19345 0.300308 0.404477 0.422215 0.514335 0.513278 0.625498 0.93727 0.993653 1.03992 1.08643 1.1112 1.23404 1.22048 1.19735 1.20285 1.17902 1.17133 1.16618 1.13694 1.12139 1.10714 1.09385 1.08936 1.08 1.04605 1.03821 1.03905 1.02285 0.989178 0.935135 0.865405 0.723314 0.641447 0.602483 0.522911 0.491991 0.462587 0.500009 0.543585 0.668132 0.752387 0.782115 0.783924 0.772362 0.763335 0.683723 0.644116 0.627112 0.614968 0.57313 0.523073 0.435806 0.335873 0.269904 0.25352 0.260491 0.24324 0.325414 0.359984 0.411085 0.348953 0.272724 0.0950071 -0.00396737];
|
||||
%filter
|
||||
x_filtered = pf_filter(x, 400, 0.07, 15);
|
||||
%show
|
||||
figure
|
||||
index = 1:length(x);
|
||||
plot(index,x,'b', index,x_filtered,'r');
|
||||
legend('x', 'x filtered')
|
||||
|
||||
% rotation (yaw)
|
||||
yaw=[0 0.367344 0.423404 0.640698 0.914954 1.12181 1.25882 1.36415 1.53533 1.68386 1.7685 1.984 1.98521 2.16754 2.31386 2.71056 2.92328 3.16512 3.30591 3.3121 3.39057 3.4986 3.38722 3.27962 2.94052 2.71029 2.14679 1.77782 1.1752 0.750571 0.374997 0.252442 0.0770365 -0.0714351 -0.0788259 -0.0948595 -0.0976391 -0.102182 -0.0721881 -0.0533192 -0.0312146 0.0153472 0.00734632 0.0203816 0.0274327 0.0244179 0.01258 -0.00401542 -0.0257598 -0.0261856 -0.030745 0.00809133 -0.0201015 -0.0173277 0.0202852 0.0392073 0.0418929 0.102132 0.114319 0.0860487 0.0639182 0.0709067 0.0550139 0.0589345 0.059498 0.0386182 0.0237123 0.0133304 0.0453462 -0.00725487 -0.0839458 -0.148932 -0.241809 -0.337385 -0.408145 -0.668709 -1.03016 -1.23355 -1.41645 -1.8998 -2.29763 -2.56527 -2.92972 -3.28132 -3.29212 -3.18606 -3.06397 -3.11467 -3.21917 -3.28397 -3.31198 -3.25927 -2.7551 -2.5298 -1.79784 -1.23766 -1.06653 -0.8034 -0.850659 -0.844026 -0.723554 -0.553498 -0.479462 -0.31188 -0.265967 -0.21797 -0.156605 -0.123484 -0.131099 -0.10232 -0.0613497 -0.109752 -0.125175 -0.129335 -0.0552938 -0.0475251 -0.0330476 -0.0433853 -0.000880761 0.115343 0.170772 0.131315 0.141837 0.0999629 0.121093 0.10641 0.0607733 -0.0309408 -0.109561 -0.066559 -0.0824674 -0.0320398 -0.0439917 -0.0623439 -0.0695493 -0.0444161 -0.0065631 0.057401 0.0976348 0.139955 0.19723 0.229909 0.191066 0.220196 0.264731 0.360177 0.346012 0.34643 0.351766 0.316502 0.367959 0.361346 0.403335 0.473158 0.519924 0.61397 0.64618 0.700117 0.700964 0.66132 0.5243 0.429438 0.456057 0.476463 0.407447 0.330845 0.331997 0.299632 0.234435 0.336388 0.294559 0.293602 0.27388 0.288828 0.275381 0.296273 0.263594 0.225263 0.186247 0.206763 0.172048 0.151194 0.154786 0.148777 0.132994 0.35366 0.471686 0.949712 1.25971 1.26477 1.3436 1.51096 1.752 1.74347 2.02086 2.12265 2.47172 3.06266 3.02326 3.0401 2.83478 2.6832 2.43665 1.51546 0.690584 0.442643 0.168241 0.0486004 0.0388517 0.063886 0.0594586 0.0671994 0.0716274 -0.00795655 0.00190975 0.0219664 0.0227349 0.0180559 0.026195 0.0434311 0.0426099 0.0737965 0.0520878 0.00251581 -0.057547 -0.0536053 -0.0872076 -0.0905081 -0.0275865 0.0106225 0.00939888 0.0564355 0.0535977 0.0664939 0.0494566 0.0104787 -0.0241714 -0.026226 -0.0377078 -0.0367821 -0.0307445 -0.00809363 -0.00967068 0.0169084 0.0220944 0.0305258 0.0240909 0.0441721 0.0568962 0.0938898 0.181372 0.425365 0.828993 0.970071 1.29186 1.49596 1.72977 1.9131 2.33526 2.67046 2.65711 2.77644 2.87891 2.92561 2.84321 2.86918 2.53234 2.38821 1.90655 1.70474 0.774424 0.242343 0.101759 0.0606305 -0.0168209 -0.0321093 0.0145107 0.0541553 0.0516316 0.0220795 -0.00039793 -0.0337128 -0.0595012 -0.0539847 -0.0388872 -0.635682 -1.3613 -1.84956 -1.77388 -1.23053 -1.08225 -1.05091 -1.00551 -0.779717 -0.0594095 0.0348849 0.0411509 -0.0188255 -0.0742438 -0.0677669 -0.0538894 -0.105211 -0.146425 -0.172514 -0.127626 -0.0157509 0.066493 0.055035 0.165349 0.141456 -0.0243789 -0.0492561 -0.108507 -0.436607 -0.421971 -0.397179 -0.342693 -0.298114 -0.136957 -0.0635116 -0.00672385 0.145058 0.134837 0.140056 0.299669 0.37401 0.256271 0.103959 0.00974883 -0.0162673 0.0043005 -0.00114822 0.011008 0.00846304 0.0198297 0.0207307 0.0143213 -0.000866516 0.00788459 0.0133711 -0.00467761 -0.000142124 -0.000778014 0.00123566 0.171455 0.267658 0.34448 0.719087 0.900269 0.958507 1.051 1.20626 1.3786 2.5974 3.06579 3.01829 3.05114 3.09404 2.95468 0.52717 0.138967 0.0976445 0.248206 0.247692 -0.0151054 -0.0351626 -0.0324181 -0.0302425 0.00564108 0.0495676 0.151858 0.0565908 -0.0921944 -0.0842249 0.0416879 0.0400479 0.0786246 -0.048536 -0.0493043 -0.0457081 -0.03454 -0.0353161 0.00897072 0.182576 0.686738 0.942024 1.22062 2.96135 2.9593 2.90432 1.59589 0.838234 0.57694 0.164348 0.107916 0.0222738 0.00653589 -0.0789186 -0.0262052 0.0161459 0.0682029 0.10532 0.00317246 -0.0800566 -0.0553356 -0.0542734 -0.0175716 0.344492 0.239568 0.117746 -0.269454 -0.184009 -0.436715 0.097191 -0.532786 -0.30076 -0.00929552];
|
||||
yaw = yaw * pi / 180; % to radian
|
||||
%filter
|
||||
yaw_filtered = pf_filter(yaw, 400, 0.005, 150);
|
||||
%show
|
||||
figure
|
||||
index = 1:length(yaw);
|
||||
plot(index,yaw,'b', index,yaw_filtered,'r');
|
||||
legend('yaw', 'yaw filtered')
|
||||
|
||||
|
||||
28
Matlab/ParticleFilter/test_odometry.m
Normal file
28
Matlab/ParticleFilter/test_odometry.m
Normal file
@@ -0,0 +1,28 @@
|
||||
|
||||
|
||||
clc
|
||||
clear all
|
||||
close all
|
||||
|
||||
% position (x)
|
||||
x=[0 0.0958093 0.102248 0.121139 0.14751 0.168275 0.180045 0.189047 0.203946 0.213641 0.22573 0.243683 0.245992 0.254727 0.260212 0.246672 0.259118 0.273364 0.295793 0.317168 0.319033 0.330263 0.291336 0.342969 0.373641 0.406199 0.451661 0.49569 0.52575 0.558851 0.595505 0.617386 0.635253 0.663907 0.695187 0.721908 0.748228 0.775707 0.798103 0.817422 0.81696 0.834573 0.859951 0.866837 0.861447 0.859494 0.863317 0.86665 0.856142 0.861513 0.869291 0.86055 0.858222 0.850158 0.86469 0.853298 0.849211 0.85666 0.846806 0.834052 0.818975 0.816591 0.818847 0.812942 0.804087 0.802885 0.799035 0.793771 0.782671 0.783806 0.753611 0.735965 0.718761 0.70112 0.68173 0.637936 0.59822 0.570844 0.546408 0.503599 0.481603 0.481476 0.468762 0.468941 0.464934 0.457286 0.468546 0.449624 0.423916 0.398509 0.448139 0.463816 0.524683 0.543314 0.585886 0.629963 0.642661 0.689202 0.733252 0.720786 0.747091 0.769375 0.796756 0.804347 0.805587 0.792853 0.785854 0.791591 0.775623 0.772854 0.774293 0.775352 0.778641 0.773735 0.763698 0.770237 0.764968 0.782758 0.790375 0.794311 0.801609 0.807287 0.817432 0.834678 0.854601 0.860135 0.857215 0.876742 0.880283 0.885587 0.895356 0.901144 0.891045 0.904938 0.88169 0.875238 0.873543 0.879889 0.858548 0.848491 0.845521 0.832916 0.82651 0.817256 0.81536 0.807806 0.80487 0.789718 0.788688 0.790668 0.786018 0.783837 0.776029 0.766569 0.76899 0.772462 0.753362 0.75065 0.760805 0.771717 0.752581 0.777233 0.771257 0.784665 0.789536 0.783277 0.768278 0.775663 0.782527 0.801327 0.773798 0.783786 0.782585 0.777043 0.765654 0.757504 0.75159 0.745206 0.745253 0.694793 0.657977 0.627305 0.587667 0.558428 0.507883 0.429494 0.354626 0.276308 0.221929 0.216919 0.222186 0.2257 0.21829 0.21727 0.220388 0.234087 0.271358 0.365188 0.397868 0.464485 0.436238 0.473228 0.516054 0.581783 0.66704 0.702402 0.772848 0.836386 0.870549 0.883748 0.890929 0.9015 0.933377 0.993732 1.01464 1.01678 1.01107 1.00868 1.01584 1.0091 1.01149 1.00289 0.992969 1.00104 0.999807 1.00424 1.00244 1.00696 0.999669 0.989008 0.995648 0.977475 0.976959 0.986356 0.969375 0.973117 0.970714 0.96257 0.956754 0.954274 0.92185 0.935669 0.933797 0.918595 0.86588 0.831554 0.800549 0.77171 0.756608 0.738918 0.707971 0.681183 0.654234 0.644363 0.619473 0.607539 0.589974 0.569724 0.538563 0.524551 0.521722 0.497904 0.486697 0.453492 0.43853 0.449554 0.472133 0.481396 0.487145 0.49219 0.520493 0.56075 0.603805 0.616122 0.687576 0.726017 0.756402 0.862825 0.926746 0.974142 0.960781 0.925374 0.932887 0.938424 0.948403 0.924803 0.914451 0.920006 0.874211 0.873257 0.888927 0.905825 0.908478 0.932547 0.975009 1.03873 1.0638 1.06204 1.07596 1.07522 1.06945 1.05537 1.07162 1.03632 1.03053 1.02946 1.01674 1.0092 0.98566 0.979956 0.946627 0.933132 0.904111 0.826381 0.789019 0.738187 0.717317 0.656708 0.490356 0.434063 0.3134 0.213561 0.18305 0.174464 0.13647 0.127878 0.0663346 0.018491 -0.00133265 0.000999137 -0.00121855 0.000119434 0.000319056 3.22909e-05 -0.000269401 -0.000233193 0.00030071 -0.000469815 -5.96254e-05 0.000130806 9.13643e-05 2.98268e-05 4.07632e-05 7.35067e-05 0.0153078 0.0186766 0.0295282 0.0543363 0.0719927 0.086474 0.126864 0.161484 0.19345 0.300308 0.404477 0.422215 0.514335 0.513278 0.625498 0.93727 0.993653 1.03992 1.08643 1.1112 1.23404 1.22048 1.19735 1.20285 1.17902 1.17133 1.16618 1.13694 1.12139 1.10714 1.09385 1.08936 1.08 1.04605 1.03821 1.03905 1.02285 0.989178 0.935135 0.865405 0.723314 0.641447 0.602483 0.522911 0.491991 0.462587 0.500009 0.543585 0.668132 0.752387 0.782115 0.783924 0.772362 0.763335 0.683723 0.644116 0.627112 0.614968 0.57313 0.523073 0.435806 0.335873 0.269904 0.25352 0.260491 0.24324 0.325414 0.359984 0.411085 0.348953 0.272724 0.0950071 -0.00396737];
|
||||
%filter
|
||||
x_filtered = pf_filter(x, 400, 0.07, 15);
|
||||
%show
|
||||
figure
|
||||
index = 1:length(x);
|
||||
plot(index,x,'b', index,x_filtered,'r');
|
||||
legend('x', 'x filtered')
|
||||
|
||||
% rotation (yaw)
|
||||
yaw=[0 0.367344 0.423404 0.640698 0.914954 1.12181 1.25882 1.36415 1.53533 1.68386 1.7685 1.984 1.98521 2.16754 2.31386 2.71056 2.92328 3.16512 3.30591 3.3121 3.39057 3.4986 3.38722 3.27962 2.94052 2.71029 2.14679 1.77782 1.1752 0.750571 0.374997 0.252442 0.0770365 -0.0714351 -0.0788259 -0.0948595 -0.0976391 -0.102182 -0.0721881 -0.0533192 -0.0312146 0.0153472 0.00734632 0.0203816 0.0274327 0.0244179 0.01258 -0.00401542 -0.0257598 -0.0261856 -0.030745 0.00809133 -0.0201015 -0.0173277 0.0202852 0.0392073 0.0418929 0.102132 0.114319 0.0860487 0.0639182 0.0709067 0.0550139 0.0589345 0.059498 0.0386182 0.0237123 0.0133304 0.0453462 -0.00725487 -0.0839458 -0.148932 -0.241809 -0.337385 -0.408145 -0.668709 -1.03016 -1.23355 -1.41645 -1.8998 -2.29763 -2.56527 -2.92972 -3.28132 -3.29212 -3.18606 -3.06397 -3.11467 -3.21917 -3.28397 -3.31198 -3.25927 -2.7551 -2.5298 -1.79784 -1.23766 -1.06653 -0.8034 -0.850659 -0.844026 -0.723554 -0.553498 -0.479462 -0.31188 -0.265967 -0.21797 -0.156605 -0.123484 -0.131099 -0.10232 -0.0613497 -0.109752 -0.125175 -0.129335 -0.0552938 -0.0475251 -0.0330476 -0.0433853 -0.000880761 0.115343 0.170772 0.131315 0.141837 0.0999629 0.121093 0.10641 0.0607733 -0.0309408 -0.109561 -0.066559 -0.0824674 -0.0320398 -0.0439917 -0.0623439 -0.0695493 -0.0444161 -0.0065631 0.057401 0.0976348 0.139955 0.19723 0.229909 0.191066 0.220196 0.264731 0.360177 0.346012 0.34643 0.351766 0.316502 0.367959 0.361346 0.403335 0.473158 0.519924 0.61397 0.64618 0.700117 0.700964 0.66132 0.5243 0.429438 0.456057 0.476463 0.407447 0.330845 0.331997 0.299632 0.234435 0.336388 0.294559 0.293602 0.27388 0.288828 0.275381 0.296273 0.263594 0.225263 0.186247 0.206763 0.172048 0.151194 0.154786 0.148777 0.132994 0.35366 0.471686 0.949712 1.25971 1.26477 1.3436 1.51096 1.752 1.74347 2.02086 2.12265 2.47172 3.06266 3.02326 3.0401 2.83478 2.6832 2.43665 1.51546 0.690584 0.442643 0.168241 0.0486004 0.0388517 0.063886 0.0594586 0.0671994 0.0716274 -0.00795655 0.00190975 0.0219664 0.0227349 0.0180559 0.026195 0.0434311 0.0426099 0.0737965 0.0520878 0.00251581 -0.057547 -0.0536053 -0.0872076 -0.0905081 -0.0275865 0.0106225 0.00939888 0.0564355 0.0535977 0.0664939 0.0494566 0.0104787 -0.0241714 -0.026226 -0.0377078 -0.0367821 -0.0307445 -0.00809363 -0.00967068 0.0169084 0.0220944 0.0305258 0.0240909 0.0441721 0.0568962 0.0938898 0.181372 0.425365 0.828993 0.970071 1.29186 1.49596 1.72977 1.9131 2.33526 2.67046 2.65711 2.77644 2.87891 2.92561 2.84321 2.86918 2.53234 2.38821 1.90655 1.70474 0.774424 0.242343 0.101759 0.0606305 -0.0168209 -0.0321093 0.0145107 0.0541553 0.0516316 0.0220795 -0.00039793 -0.0337128 -0.0595012 -0.0539847 -0.0388872 -0.635682 -1.3613 -1.84956 -1.77388 -1.23053 -1.08225 -1.05091 -1.00551 -0.779717 -0.0594095 0.0348849 0.0411509 -0.0188255 -0.0742438 -0.0677669 -0.0538894 -0.105211 -0.146425 -0.172514 -0.127626 -0.0157509 0.066493 0.055035 0.165349 0.141456 -0.0243789 -0.0492561 -0.108507 -0.436607 -0.421971 -0.397179 -0.342693 -0.298114 -0.136957 -0.0635116 -0.00672385 0.145058 0.134837 0.140056 0.299669 0.37401 0.256271 0.103959 0.00974883 -0.0162673 0.0043005 -0.00114822 0.011008 0.00846304 0.0198297 0.0207307 0.0143213 -0.000866516 0.00788459 0.0133711 -0.00467761 -0.000142124 -0.000778014 0.00123566 0.171455 0.267658 0.34448 0.719087 0.900269 0.958507 1.051 1.20626 1.3786 2.5974 3.06579 3.01829 3.05114 3.09404 2.95468 0.52717 0.138967 0.0976445 0.248206 0.247692 -0.0151054 -0.0351626 -0.0324181 -0.0302425 0.00564108 0.0495676 0.151858 0.0565908 -0.0921944 -0.0842249 0.0416879 0.0400479 0.0786246 -0.048536 -0.0493043 -0.0457081 -0.03454 -0.0353161 0.00897072 0.182576 0.686738 0.942024 1.22062 2.96135 2.9593 2.90432 1.59589 0.838234 0.57694 0.164348 0.107916 0.0222738 0.00653589 -0.0789186 -0.0262052 0.0161459 0.0682029 0.10532 0.00317246 -0.0800566 -0.0553356 -0.0542734 -0.0175716 0.344492 0.239568 0.117746 -0.269454 -0.184009 -0.436715 0.097191 -0.532786 -0.30076 -0.00929552];
|
||||
yaw = yaw * pi / 180; % to radian
|
||||
%filter
|
||||
yaw_filtered = pf_filter(yaw, 400, 0.005, 150);
|
||||
%show
|
||||
figure
|
||||
index = 1:length(yaw);
|
||||
plot(index,yaw,'b', index,yaw_filtered,'r');
|
||||
legend('yaw', 'yaw filtered')
|
||||
|
||||
|
||||
Reference in New Issue
Block a user