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Code Issues Releases Wiki Activity

Trim CN0 smoother parameters. Add it to the FPGA block

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This commit is contained in:
Carles Fernandez
2019-04-25 15:30:11 +02:00
parent 42c0544c4c
commit 9d36199901
5 changed files with 23 additions and 11 deletions
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9
src/algorithms/tracking/libs/exponential_smoother.cc
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@@ -31,7 +31,6 @@
*/
#include "exponential_smoother.h"
#include <iostream> ///////////////
#include <iterator>
#include <numeric>
@@ -40,11 +39,11 @@ Exponential_Smoother::Exponential_Smoother()
alpha_ = 0.001;
old_value_ = 0.0;
one_minus_alpha_ = 1.0 - alpha_;
samples_for_initialization_ = 500;
samples_for_initialization_ = 200;
initializing_ = true;
init_counter_ = 0;
min_value_ = 25;
offset_ = 9.0;
min_value_ = 25.0;
offset_ = 12.0;
init_buffer_.reserve(samples_for_initialization_);
}
@@ -117,7 +116,7 @@ float Exponential_Smoother::smooth(float raw)
init_buffer_.push_back(smoothed_value);
if (init_counter_ == samples_for_initialization_)
{
old_value_ = std::accumulate(std::begin(init_buffer_), std::end(init_buffer_), 0.0) / static_cast<float>(init_buffer_.size());
old_value_ = std::accumulate(std::begin(init_buffer_), std::end(init_buffer_), 0.0f) / static_cast<float>(init_buffer_.size());
if (old_value_ < (min_value_ + offset_))
{
// flush buffer and start again

4
src/algorithms/tracking/libs/exponential_smoother.h
View File

@@ -49,8 +49,8 @@ class Exponential_Smoother
public:
Exponential_Smoother(); //!< Constructor
~Exponential_Smoother(); //!< Destructor
void set_alpha(float alpha); //!< 0 < alpha < 1. The higher, the most responsive, but more variance. Default value: 0.0001
void set_samples_for_initialization(int num_samples); //!< Number of samples averaged for initialization. Default value:
void set_alpha(float alpha); //!< 0 < alpha < 1. The higher, the most responsive, but more variance. Default value: 0.001
void set_samples_for_initialization(int num_samples); //!< Number of samples averaged for initialization. Default value: 200
void reset();
void set_min_value(float value);
void set_offset(float offset);