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GCC: Maybe bug in kalman filter #286

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sterlingdeng opened this issue Nov 8, 2024 · 4 comments · Fixed by #287

Contributor

sterlingdeng commented Nov 8, 2024 •

edited

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Your environment.

Version: latest

What happened?

The bug lies in this section of code in the Kalman filter..
https://github.com/pion/interceptor/blob/master/pkg/gcc/kalman.go#L81-L84
I think it should be an if else statement, as this is what I'm seeing in another implementation https://gitlab.freedesktop.org/gstreamer/gst-plugins-rs/-/blob/main/net/rtp/src/gcc/imp/kalman_estimator.rs?ref_type=heads#L53-59
and how I interpret it from the RFC

If z(i) > 3sqrt(var_v_hat) the filter is updated with 3sqrt(var_v_hat) rather than z(i).

In https://datatracker.ietf.org/doc/html/draft-ietf-rmcat-gcc-02#section-5.3

It would be great to have another pair of eyes on it

The text was updated successfully, but these errors were encountered:

Contributor Author

sterlingdeng commented Nov 11, 2024

@mengelbart Could you take a look?

Contributor

kcaffrey commented Nov 12, 2024

I wasn't involved in writing the GCC implementation, but I agree with your assessment that it should be an if else statement.

Contributor

mengelbart commented Nov 12, 2024

Yes, I think you are correct. Want to open a PR @sterlingdeng ?

Contributor Author

sterlingdeng commented Nov 12, 2024

Yep I can push a PR for this.

sterlingdeng mentioned this issue

gcc: fix missing if-else in kalman #287

Merged

mengelbart closed this as completed in #287

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