From 9f4102378a75b99ec3e8c2f9c465015a5ed2d093 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?G=C3=B6ktu=C4=9F=20Karaka=C5=9Fl=C4=B1?= <20567087+goktug97@users.noreply.github.com> Date: Wed, 23 Oct 2019 21:46:33 +0300 Subject: [PATCH] change resampling calculation to match with the book --- Localization/particle_filter/particle_filter.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/Localization/particle_filter/particle_filter.py b/Localization/particle_filter/particle_filter.py index 6643116f..8859b514 100644 --- a/Localization/particle_filter/particle_filter.py +++ b/Localization/particle_filter/particle_filter.py @@ -141,9 +141,8 @@ def re_sampling(px, pw): N_eff = 1.0 / (pw.dot(pw.T))[0, 0] # Effective particle number if N_eff < NTh: w_cum = np.cumsum(pw) - base = np.cumsum(pw * 0.0 + 1 / NP) - 1 / NP - re_sample_id = base + np.random.rand(base.shape[0]) / NP - + base = np.arange(0.0, 1.0, 1/NP) + re_sample_id = base + np.random.uniform(0, 1/NP) indexes = [] ind = 0 for ip in range(NP):