发表更新Programming9 分钟读完 (大约1276个字)

树莓派上的麦阵列定位

最近又弄了个麦阵列玩定位……

1 安装ReSpeaker驱动

参考：ReSpeaker 6-Mic Circular Array kit for Raspberry Pi

手册上说换个源会快，那就换吧：

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sudo vim /etc/apt/sources.list

手册上让用清华的镜像站：

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deb http://mirrors.tuna.tsinghua.edu.cn/raspbian/raspbian/ buster main non-free contrib
deb-src http://mirrors.tuna.tsinghua.edu.cn/raspbian/raspbian/ buster main non-free contrib

安装麦阵列驱动：

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mkdir seeed
proxychains4 git clone https://github.com/respeaker/seeed-voicecard.git
cd seeed-voicecard
sudo proxychains4 ./install.sh
sudo reboot -h now

需要注意的是，在安装前不要运行sudo rpi-update升级固件，否则会因为固件版本问题导致无法安装。

2 录音及播放测试

查看声卡输入设备arecord -L，返回：

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null
    Discard all samples (playback) or generate zero samples (capture)
default
ac108
dmixer
ac101
sysdefault:CARD=seeed8micvoicec
    seeed-8mic-voicecard,
    Default Audio Device
dmix:CARD=seeed8micvoicec,DEV=0
    seeed-8mic-voicecard,
    Direct sample mixing device
dsnoop:CARD=seeed8micvoicec,DEV=0
    seeed-8mic-voicecard,
    Direct sample snooping device
hw:CARD=seeed8micvoicec,DEV=0
    seeed-8mic-voicecard,
    Direct hardware device without any conversions
plughw:CARD=seeed8micvoicec,DEV=0
    seeed-8mic-voicecard,
    Hardware device with all software conversions

检查声卡输出设备aplay -L，返回：

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null
    Discard all samples (playback) or generate zero samples (capture)
default
ac108
dmixer
ac101
sysdefault:CARD=ALSA
    bcm2835 ALSA, bcm2835 ALSA
    Default Audio Device
dmix:CARD=ALSA,DEV=0
    bcm2835 ALSA, bcm2835 ALSA
    Direct sample mixing device
dmix:CARD=ALSA,DEV=1
    bcm2835 ALSA, bcm2835 IEC958/HDMI
    Direct sample mixing device
dsnoop:CARD=ALSA,DEV=0
    bcm2835 ALSA, bcm2835 ALSA
    Direct sample snooping device
dsnoop:CARD=ALSA,DEV=1
    bcm2835 ALSA, bcm2835 IEC958/HDMI
    Direct sample snooping device
hw:CARD=ALSA,DEV=0
    bcm2835 ALSA, bcm2835 ALSA
    Direct hardware device without any conversions
hw:CARD=ALSA,DEV=1
    bcm2835 ALSA, bcm2835 IEC958/HDMI
    Direct hardware device without any conversions
plughw:CARD=ALSA,DEV=0
    bcm2835 ALSA, bcm2835 ALSA
    Hardware device with all software conversions
plughw:CARD=ALSA,DEV=1
    bcm2835 ALSA, bcm2835 IEC958/HDMI
    Hardware device with all software conversions
sysdefault:CARD=seeed8micvoicec
    seeed-8mic-voicecard,
    Default Audio Device
dmix:CARD=seeed8micvoicec,DEV=0
    seeed-8mic-voicecard,
    Direct sample mixing device
dsnoop:CARD=seeed8micvoicec,DEV=0
    seeed-8mic-voicecard,
    Direct sample snooping device
hw:CARD=seeed8micvoicec,DEV=0
    seeed-8mic-voicecard,
    Direct hardware device without any conversions
plughw:CARD=seeed8micvoicec,DEV=0
    seeed-8mic-voicecard,
    Hardware device with all software conversions

按照手册录制、播放音频文件，一切OK，还能边录边播~

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#It will capture sound on AC108 and save as a.wav
arecord -Dac108 -f S32_LE -r 16000 -c 8 a.wav
#Take care of that the captured mic audio is on the first 6 channels

#It will play sound file a.wav on AC101
aplay -D ac101 a.wav
#Do not use -D plughw:1,0 directly except your wave file is single channel only.

#Doing capture && playback the same time
arecord -D hw:1,0 -f S32_LE -r 16000 -c 8 to_be_record.wav &
#mono_to_play.wav is a mono channel wave file to play
aplay -D plughw:1,0 -r 16000 to_be_record.wav

按照手册安装audacity，图形界面音频编辑软件，可以说是非常舒适了~

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sudo apt-get install -y audacity

3 DOA定位测试

参考：ReSpeaker 6 Mic Array for Raspberry Pi

下载ODAS源码并编译：

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sudo proxychains4 apt install -y libfftw3-dev libconfig-dev libasound2-dev cmake
proxychains4 git clone https://github.com/introlab/odas.git
mkdir odas/build
cd odas/build
cmake ..
make

安装完成后，编写麦阵列配置文件respeaker-6mic-odas.cfg：

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# Configuration file for ReSpeaker 6 Mic Array
# Circular shape, R = 0.0463m

version = "2.1";

# Raw
raw: 
{
    fS = 16000;
    hopSize = 128;
    nBits = 32;
    nChannels = 8; 

    # Input with raw signal from microphones
    interface: {
        type = "soundcard";
        card = 1;
        device = 0;
    }
}

# Mapping
mapping:
{
    map: (1, 2, 3, 4, 5, 6);
}

# General
general:
{
    epsilon = 1E-20;
    size: 
    {
        hopSize = 128;
        frameSize = 256;
    };
    samplerate:
    {
        mu = 16000;
        sigma2 = 0.01;
    };
    speedofsound:
    {
        mu = 343.0;
        sigma2 = 25.0;
    };
    mics = (
        # Microphone 1
        { 
            mu = ( -0.0232, +0.0401, +0.0000 ); 
            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
            direction = ( +0.000, +0.000, +1.000 );
            angle = ( 80.0, 90.0 );
        },
        # Microphone 6
        { 
            mu = ( +0.0232, +0.0401, +0.0000 ); 
            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
            direction = ( +0.000, +0.000, +1.000 );
            angle = ( 80.0, 90.0 );
        },
        # Microphone 5
        { 
            mu = ( +0.0463, +0.0000, +0.0000 ); 
            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
            direction = ( +0.000, +0.000, +1.000 );
            angle = ( 80.0, 90.0 );        
        },
        # Microphone 4
        { 
            mu = ( +0.0232, -0.0401, +0.0000 ); 
            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
            direction = ( +0.000, +0.000, +1.000 );
            angle = ( 80.0, 90.0 );        
        },
        # Microphone 3
        { 
            mu = ( -0.0232, -0.0401, +0.0000 ); 
            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
            direction = ( +0.000, +0.000, +1.000 );
            angle = ( 80.0, 90.0 );
        },
        # Microphone 2
        { 
            mu = ( -0.0463, +0.0000, +0.0000 ); 
            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
            direction = ( +0.000, +0.000, +1.000 );
            angle = ( 80.0, 90.0 );
        }
    );

    # Spatial filters to include only a range of direction if required
    # (may be useful to remove false detections from the floor, or
    # limit the space search to a restricted region)
    spatialfilters = (
        {
            direction = ( +0.000, +0.000, +1.000 );
            angle = (80.0, 90.0);
        }
    );  
    nThetas = 181;
    gainMin = 0.25;
}

# Stationnary noise estimation
sne:
{
    b = 3;
    alphaS = 0.1;
    L = 150;
    delta = 3.0;
    alphaD = 0.1;
}

# Sound Source Localization
ssl:
{
    nPots = 4;
    nMatches = 10;
    probMin = 0.5;
    nRefinedLevels = 1;
    interpRate = 4;

    # Number of scans: level is the resolution of the sphere
    # and delta is the size of the maximum sliding window
    # (delta = -1 means the size is automatically computed)
    scans = (
        { level = 2; delta = -1; },
        { level = 4; delta = -1; }
    );

    # Output to export potential sources
    potential: {
        format = "json";
        interface: {
            type = "socket"; ip = "192.168.1.100"; port = 9001;
        };
        #format = "undefined";
        #interface: {
        #    type = "blackhole";
        #}
    };
}

# Sound Source Tracking
sst:
{
    # Mode is either "kalman" or "particle"
    mode = "kalman";

    # Add is either "static" or "dynamic"
    add = "dynamic";

    # Parameters used by both the Kalman and particle filter
    active = (
        { weight = 1.0; mu = 0.3; sigma2 = 0.0025 }
    );

    inactive = (
        { weight = 1.0; mu = 0.15; sigma2 = 0.0025 }
    );

    sigmaR2_prob = 0.0025;
    sigmaR2_active = 0.0225;
    sigmaR2_target = 0.0025;
    Pfalse = 0.1;
    Pnew = 0.1;
    Ptrack = 0.8;

    theta_new = 0.9;
    N_prob = 5;
    theta_prob = 0.8;
    N_inactive = ( 150, 200, 250, 250 );
    theta_inactive = 0.9;

    # Parameters used by the Kalman filter only
    kalman: {
        sigmaQ = 0.001;
    };
   
    # Parameters used by the particle filter only
    particle: {
        nParticles = 1000;
        st_alpha = 2.0;
        st_beta = 0.04;
        st_ratio = 0.5;
        ve_alpha = 0.05;
        ve_beta = 0.2;
        ve_ratio = 0.3;
        ac_alpha = 0.5;
        ac_beta = 0.2;
        ac_ratio = 0.2;
        Nmin = 0.7;
    };

    target: ();

    # Output to export tracked sources
    tracked: {
        format = "json";
        interface: {
            type = "socket"; ip = "192.168.1.100"; port = 9000;
        };
        #format = "undefined";
        #interface: {
        #    type = "blackhole";
        #}
    };
}

sss:
{
    # Mode is either "dds", "dgss" or "dmvdr"
    mode_sep = "dds";
    mode_pf = "ms";

    gain_sep = 1.0;
    gain_pf = 10.0;

    dds: {

    };

    dgss: {
        mu = 0.01;
        lambda = 0.5;
    };

    dmvdr: {

    };

    ms: {
        alphaPmin = 0.07;
        eta = 0.5;
        alphaZ = 0.8;        
        thetaWin = 0.3;
        alphaWin = 0.3;
        maxAbsenceProb = 0.9;
        Gmin = 0.01;
        winSizeLocal = 3;
        winSizeGlobal = 23;
        winSizeFrame = 256;
    };

    ss: {
        Gmin = 0.01;
        Gmid = 0.9;
        Gslope = 10.0;
    };

    separated: {
        fS = 44100;
        hopSize = 512;
        nBits = 16;        

        interface: {
            type = "file";
            path = "separated.raw";
        };       
    };

    postfiltered: {
        fS = 44100;
        hopSize = 512;
        nBits = 16;        

        interface: {
            type = "file";
            path = "postfiltered.raw";
        };      
    };
}

classify:
{
    frameSize = 1024;
    winSize = 3;
    tauMin = 32;
    tauMax = 200;
    deltaTauMax = 7;
    alpha = 0.3;
    gamma = 0.05;
    phiMin = 0.15;
    r0 = 0.2;    

    category: {
        format = "undefined";

        interface: {
            type = "blackhole";
        }
    }
}

波达方向定位服务odaslives位于odas/bin/目录下，使用配置文件启动定位服务：

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ln -s ~/odas/3rd-lib/odas/bin/odaslive ~/.local/bin/odaslive
odaslive -c ~/respeaker-6mic-odas.cfg

在电脑上下载ODAS Studio源码并编译：

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sudo npm install npm@latest -g
wget https://github.com/introlab/odas_web/archive/v0.2-alpha.zip
unzip -a v0.2-alpha.zip 
git clone https://github.com/introlab/odas_web.git
cd odas_web-0.2-alpha 
npm install

在电脑上安装npm，并从源码编译odas web v0.2-alpha：

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sudo npm install npm@latest -g
cd odas_web
npm install

或者使用已编译好的程序：

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proxychains4 wget https://github.com/introlab/odas_web/releases/download/v0.1-alpha/MacOS_x64.tar.gz

ODA Studio Test

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