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https://github.com/uts-magic-lab/hark_sound_localization

Do sound localization in ROS using a variety of sensors (Kinect, PSeye, microcone...) via HARK
https://github.com/uts-magic-lab/hark_sound_localization

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Do sound localization in ROS using a variety of sensors (Kinect, PSeye, microcone...) via HARK

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# hark sound localization



Based on the hark tools for sound localization and the demo for the turtlebot.



Instructions on how this was brought back to life can be found in [pr2_audio_loc.md](pr2_audio_loc.md), they are more related to Ubuntu 12.04.



Instructions on how to install the dependencies can be found at the start of [new_microphone.md](new_microphone.md).



This has been tested on:



* Ubuntu 12.04 64b on PR2 with a Kinect (old one) (ROS Hydro). [Watch it working](https://www.youtube.com/watch?v=B7THEridi7A).

* Ubuntu 14.04 64b with PSeye (ROS Indigo).

* Ubuntu 14.04 64b with microcone (ROS Indigo).



# Run it



For the PR2 Kinect, you'll need to enable the Kinect as an audio device first, follow [this instructions](pr2_kinect_audio.md). Then you can just run:



```bash

roslaunch hark_sound_source_localization pr2_kinect.launch

```



You'll find the topic `/hark_source` of type `hark_msgs/HarkSource` reporting where the audio comes from at 120Hz~ with messages looking like:



```

header: 

  seq: 7049

  stamp: 

    secs: 1480557477

    nsecs: 563368941

  frame_id: HarkRosFrameID

count: 7049

exist_src_num: 1

src: 

  - 

    id: 15

    power: 38.3558311462

    x: 0.615999996662

    y: 0.73400002718

    z: 0.287000000477

    azimuth: 49.9953804016

    elevation: 16.67345047

```



The **power** field relates to the volume of the heard noise and the **azimuth** represents the angle where 

the audio came from.



For the PSeye launch:



```

roslaunch hark_sound_source_localization pseye.launch 

```



For the microcone launch:



```

roslaunch hark_sound_source_localization microcone.launch

```



# Change parameters



If you need to change the device used you need to edit the file [localization_ROS_pseye.sh](hark_sound_source_localization/nodes/localization_ROS_pseye.sh).



Change the line `DEVICE=plughw:1,0` to whatever suits you. You may use `arecord -L` to help find your device. If you need more than one device accesing at the microphone at the same time you can follow [these instructions](https://gist.github.com/awesomebytes/924493bcdb358f5e71fdff93c2896730#to-let-more-than-one-software-access-to-the-microphone).



If you want to change the minimum power threshold on when localization (and tracking) happens you'll need to edit [localization_ROS_pseye.n](hark_sound_source_localization/networks/localization_ROS_pseye.n), modify this line:



```

      

```



To change the range of the angle where localization occurs (both the kinect and the pseye have been 

trained their transfer functions for 360 degrees) modify the lines:



```

      

      

```



I don't recommend it tho.



# I have another microphone, and I want to localize audio source with it!



First check if it supported in [HARK supported hardware](http://www.hark.jp/wiki.cgi?page=SupportedHardware) list, as of writing this, they support:



* TAMAGO-01

* RASP-24

* RASP-LC

* Kinect

* Xbox One Kinect (Kinect v2)

* PlayStation Eye

* Microcone

* Kurage-kun



Well... if you have different hardware and you want to

use it for this same purpose then you'll need to create a transfer function for it.



[Video tutorial](https://www.youtube.com/watch?v=9v5RUOrkyhw) of what this is about.



[Video tutorial](https://www.youtube.com/watch?v=_Tpn94mPtj4) of using harktool4 to generate the files.



Then use `harktoolcli-conv-tf` as `harktoolcli-conv-tf -l loc_tf.dat -s sep_tf.dat -o transfer.zip`.



You may find some extra notes I wrote [in new_microphone.md](new_microphone.md).