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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
Last synced: 3 months ago
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Do sound localization in ROS using a variety of sensors (Kinect, PSeye, microcone...) via HARK
- Host: GitHub
- URL: https://github.com/uts-magic-lab/hark_sound_localization
- Owner: uts-magic-lab
- Created: 2016-11-23T11:30:23.000Z (almost 8 years ago)
- Default Branch: master
- Last Pushed: 2016-12-01T04:04:49.000Z (almost 8 years ago)
- Last Synced: 2024-06-24T01:40:59.200Z (5 months ago)
- Language: Groff
- Homepage:
- Size: 4.98 MB
- Stars: 17
- Watchers: 7
- Forks: 6
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# 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).