def beam_pattern_cartesian_multi_freq(self, save_fig=False):
'''
Plot Array Response including several Frequencies and Azimuth Angle infomation
'''
title = '{}_{}'.format('Beampattern_CartersianMultiFreq',
self.beam_label)
if save_fig:
fig_name = self._set_fig_name(title)
else:
fig_name = None
#frequency to plot
freq_range = constants.get('freq_range_small')
angle_range = np.degrees(constants.get('angle_range'))
y_lim_lower = []
plot = Plot()
plot.append_axes()
for freq in freq_range:
response_freq = self.beam_pattern(freq)
y_lim_lower.append(np.min(response_freq))
plot.plot_vector(response_freq,
angle_range,
label='{} kHz'.format(freq / 1000))
y_lim_lower = np.maximum(-70, np.min(y_lim_lower))
plot.set_pipeline(title=title,
ylim=(y_lim_lower, 1),
xlim=(0, 180),
legend='lower right',
xlabel='Azimuth Angle[Deg]',
ylabel='Beampattern[dB]',
fig_name=fig_name)
def steering_vector_2D_from_point(self, frequency, source, attn=True, ff=False):
""" Creates a steering vector for a particular frequency and source
Args:
frequency
source: location in cartesian coordinates
attn: include attenuation factor if True
ff: uses far-field distance if true
Return:
A 2x1 ndarray containing the steering vector
"""
X = np.array(source)
if X.ndim == 1:
X = source[:,np.newaxis]
# normalize for far-field if requested
if (ff):
X -= self.center
Xn = np.sqrt(np.sum(X**2, axis=0))
X *= constants.get('ffdist')/Xn
X += self.center
D = distance(self.R, X)
omega = 2 * np.pi * frequency
if attn:
# TO DO 1: This will mean slightly different absolute value for
# every entry, even within the same steering vector. Perhaps a
# better paradigm is far-field with phase carrier.
return 1. / (4 * np.pi) / D * np.exp(-1j * omega * D / constants.get('c'))
else:
return np.exp(-1j * omega * D / constants.get('c'))
def beam_pattern_heatmap(self, save_fig=False):
'''
Plot heatmap of Array Response including all Frequency and Azimuth Angle infomation
'''
title = '{}_{}'.format('Beampattern_Heatmap', self.beam_label)
if save_fig:
fig_name = self._set_fig_name(title)
else:
fig_name = None
freq = np.linspace(8000, 1, num=800, endpoint=True)
response_matrix = np.zeros(
(len(freq), len(constants.get('angle_range'))))
for index, f in enumerate(freq):
response_matrix[index:] = self.beam_pattern(f)
#plot
xticks = np.arange(0, len(constants.get('angle_range')), 60)
yticks = np.arange(0, 900, 100)
xticklabels = np.arange(
0, len(constants.get('angle_range')), 60, dtype=int) / 2.0
yticklabels = np.linspace(8, 0, num=9, endpoint=True, dtype=int)
plot = Plot()
plot.append_axes()
plot.plot_heatmap(response_matrix)
plot.set_pipeline(title=title,
xticks=xticks,
yticks=yticks,
xticklabels=[int(tick) for tick in xticklabels],
yticklabels=yticklabels,
xlabel='Azimuth Angle[Deg]',
ylabel='Freq[kHz]',
fig_name=fig_name)
def heatmap_beam_pattern(self, save_fig=True):
'''
beampattern heatmap only available for frequency domain beamforming
case : draw beampatten for heatmap.
There will be as many subplots as beamforming numbers.
'''
if self._beamforming_cout == 0:
raise ValueError(
'No beamforming to analysis! Please append one firstly!')
beamforming_dict = self._beamforming_list[0]
if beamforming_dict.get('beam_domain') == 'time':
raise ValueError(
'Time domain beamforming donnot support heatmap plot!')
print('This may take a few seconds. Please wating...')
figsize = (10, 5) if self._beamforming_cout == 1 else (
10, 3 * self._beamforming_cout)
plot = Plot(figsize=figsize, subplot_rows=self._beamforming_cout)
plot.append_axes_combo()
xticks = np.arange(0, len(constants.get('angle_range')), 60)
yticks = np.arange(0, 900, 100)
xticklabels = np.arange(
0, len(constants.get('angle_range')), 60, dtype=int) / 2.0
yticklabels = np.linspace(8, 0, num=9, endpoint=True, dtype=int)
freq_range = np.linspace(8000, 1, num=800, endpoint=True)
for beam_index, beam in enumerate(self._beamforming_list):
response_matrix = np.zeros(
(len(freq_range), len(constants.get('angle_range'))))
for freq_index, freq in enumerate(freq_range):
response_matrix[freq_index:] = beam[
'beam_instance'].beam_pattern(freq)
plot.plot_heatmap(response_matrix,
label_pad=-65,
subplot_index=beam_index)
plot.set_pipeline(title=beam['beam_instance'].beam_label,
xticks=xticks,
yticks=yticks,
xticklabels=[int(tick) for tick in xticklabels],
yticklabels=yticklabels,
xlabel='Azimuth Angle[Deg]',
ylabel='Freq[kHz]',
wait_for_user=False,
subplot_index=beam_index)
if self._beamforming_cout > 1:
plot.suptitle(
'Beampattern Heatmap Compare for Different Beamforming',
hspace=0.5)
if save_fig:
fig_name = self.fig_name('Beampattern_Heatmap')
plot.save_figure(fig_name)
plot.wait_for_user()
def filter(self):
g = self.steer_vector()
theta_array_0_90 = np.array_split(constants.get('angle_range'), 2)[0]
theta_array_90_180 = np.array_split(constants.get('angle_range'), 2)[1]
gamma_0_half_pi = self.diffuse_noise_coherence(theta_array_0_90)
gamma_half_pi_pi = self.diffuse_noise_coherence(theta_array_90_180)
[t, _] = jeig(gamma_0_half_pi, gamma_half_pi_pi)
t = t[:, 0: self.Q]
filts = t.dot(pinv(t.T.dot(g).dot(g.T).dot(t))).dot(t.T).dot(g).dot(self.i_ell)
return filts
def front_back_ratio(self):
'''
return the front_back_ratio in TDB
'''
theta_array_0_90 = np.array_split(constants.get('angle_range'), 2)[0]
theta_array_90_180 = np.array_split(constants.get('angle_range'), 2)[1]
filts = self.filter
gamma_0_half_pi = self.diffuse_noise_coherence(theta_array_0_90)
gamma_half_pi_pi = self.diffuse_noise_coherence(theta_array_90_180)
front_back_ratio = (filts.T.dot(gamma_0_half_pi).dot(filts)) / (
filts.T.dot(gamma_half_pi_pi).dot(filts))
return dB(front_back_ratio, True)
def get_rir(self, mic, visibility, Fs, t0=0., t_max=None):
'''
Compute the room impulse response between the source
and the microphone whose position is given as an
argument.
'''
# fractional delay length
fdl = constants.get('frac_delay_length')
fdl2 = (fdl - 1) // 2
# compute the distance
dist = self.distance(mic)
time = dist / constants.get('c') + t0
alpha = self.damping / (4. * np.pi * dist)
# the number of samples needed
if t_max is None:
# we give a little bit of time to the sinc to decay anyway
N = np.ceil((1.05 * time.max() - t0) * Fs)
else:
N = np.ceil((t_max - t0) * Fs)
N += fdl
t = np.arange(N) / float(Fs)
ir = np.zeros(t.shape)
try:
# Try to use the Cython extension
from build_rir import fast_rir_builder
fast_rir_builder(ir, time, alpha, visibility, Fs, fdl)
except ImportError:
print(
"Cython-extension build_rir unavailable. Falling back to pure python"
)
# fallback to pure Python implemenation
from utilities import fractional_delay
for i in range(time.shape[0]):
if visibility[i] == 1:
time_ip = int(np.round(Fs * time[i]))
time_fp = (Fs * time[i]) - time_ip
ir[time_ip - fdl2:time_ip + fdl2 +
1] += alpha[i] * fractional_delay(time_fp)
return ir
def __init__(self, d_mic, pattern='Cardioid'):
if pattern not in ['Quadrupole', 'Cardioid', 'Hypercardioid', 'Supercardioid']:
raise ValueError('No this pattern in SecondOrder Beamforming!')
super(SecondOrder, self).__init__(d_mic, M=3, phi=0)
self.null_directions = constants.get('second_order_null_angle')[pattern]
self.beam_label = '{}{}'.format(pattern, self.beam_label)
def steering_vector_2D(self, frequency, phi, dist, attn=False):
phi = np.array([phi]).reshape(phi.size)
# Assume phi and dist are measured from the array's center
X = dist * np.array([np.cos(phi), np.sin(phi)]) + self.center
D = distance(self.R, X)
omega = 2 * np.pi * frequency
if attn:
# TO DO 1: This will mean slightly different absolute value for
# every entry, even within the same steering vector. Perhaps a
# better paradigm is far-field with phase carrier.
return 1. / (4 * np.pi) / D * np.exp(-1j * omega * D / constants.get('c'))
else:
return np.exp(-1j * omega * D / constants.get('c'))
def __init__(self, d_mic, pattern='Diople'):
if pattern not in ['Diople', 'Cardioid', 'Hypercardioid', 'Supercardioid']:
raise ValueError('No this pattern in FirstOrder Beamforming!')
super(FirstOrder, self).__init__(d_mic, M=2, phi=0)
self.null_directions = constants.get('first_order_null_angle')[pattern]
self.beam_label = '{}{}'.format(pattern, self.beam_label)
def __frequency_fixed_noise_improvement_performance(
self, wng_or_df, save_fig=True):
'''
Only for frequency domain or
beamforming performace for directivity and white noise gain
case : draw directivity or white noise gain in only one figure
Parameter
---------
wng_or_df: string
White Noise Gain or Directivity
'''
freq_range = constants.get('freq_range_large')
plot = Plot(figsize=(8, 6))
plot.append_axes()
axis_limit_max = []
axis_limit_min = []
for beam_index, beam in enumerate(self._beamforming_list):
gain_array = np.zeros_like(freq_range, dtype=np.float32)
for freq_index, freq in enumerate(freq_range):
if wng_or_df == 'White Noise Gain':
gain_array[freq_index] = beam[
'beam_instance'].white_noise_gain(freq)
elif wng_or_df == 'Directivity':
gain_array[freq_index] = beam['beam_instance'].directivity(
freq)
else:
raise ValueError('Please check DF or WNG are allowed')
axis_limit_max.append(np.max(gain_array))
axis_limit_min.append(np.min(gain_array))
plot.plot_vector(gain_array,
freq_range,
label=beam['beam_instance'].beam_label)
if save_fig:
fig_name = self.fig_name(wng_or_df)
else:
fig_name = None
beamforming_dict = self._beamforming_list[0]
title = '{wng_or_df} for {domain}Domain {dtype}Beamforming'.format(
wng_or_df=wng_or_df,
domain=(beamforming_dict.get('beam_domain')).capitalize(),
dtype=(beamforming_dict.get('beam_type')).capitalize())
plot.set_pipeline(title=title,
xlim=(0, 8000),
ylim=(np.min(axis_limit_min) - 1,
np.max(axis_limit_max) + 1),
xlabel='Freq[Hz]',
ylabel='dB',
legend='lower right',
fig_name=fig_name)
def unit_delay(self, theta):
'''
computing the delay between two successive microphones
Parameters
----------
theta: float
A given azimuth angle
'''
return self.d_mic / constants.get('c') * np.cos(theta)
def comparePlot(signal1, signal2, Fs, fft_size=512, norm=False, equal=False, title1=None, title2=None):
import matplotlib.pyplot as plt
td_amp = np.maximum(np.abs(signal1).max(), np.abs(signal2).max())
if norm:
if equal:
signal1 /= np.abs(signal1).max()
signal2 /= np.abs(signal2).max()
else:
signal1 /= td_amp
signal2 /= td_amp
td_amp = 1.
plt.subplot(2,2,1)
plt.plot(np.arange(len(signal1))/float(Fs), signal1)
plt.axis('tight')
plt.ylim(-td_amp, td_amp)
if title1 is not None:
plt.title(title1)
plt.subplot(2,2,2)
plt.plot(np.arange(len(signal2))/float(Fs), signal2)
plt.axis('tight')
plt.ylim(-td_amp, td_amp)
if title2 is not None:
plt.title(title2)
import stft
import windows
eps = constants.get('eps')
F1 = stft.stft(signal1, fft_size, fft_size / 2, win=windows.hann(fft_size))
F2 = stft.stft(signal2, fft_size, fft_size / 2, win=windows.hann(fft_size))
# try a fancy way to set the scale to avoid having the spectrum
# dominated by a few outliers
p_min = 1
p_max = 99.5
all_vals = np.concatenate((dB(F1+eps), dB(F2+eps))).flatten()
vmin, vmax = np.percentile(all_vals, [p_min, p_max])
cmap = 'jet'
interpolation='sinc'
plt.subplot(2,2,3)
stft.spectroplot(F1.T, fft_size, fft_size / 2, Fs, vmin=vmin, vmax=vmax,
cmap=plt.get_cmap(cmap), interpolation=interpolation)
plt.subplot(2,2,4)
stft.spectroplot(F2.T, fft_size, fft_size / 2, Fs, vmin=vmin, vmax=vmax,
cmap=plt.get_cmap(cmap), interpolation=interpolation)
def beam_pattern(self):
"""
绘制波束形成的波束图
"""
filts = self.filter
performace = []
for theta in constants.get('angle_range'):
g_tmp = self.steer_vector(theta)
performace_theta = filts.T.dot(g_tmp).dot(g_tmp.T).dot(filts)
performace.append(performace_theta)
return dB(np.array(performace), True)
def _set_fig_name(self, title):
'''
if save the fig, the directory and fig name should set
Parameters
----------
titile: string
fig title name
'''
pic_path = os.path.join(constants.get('pic_path'), self.beam_type)
make_directory_if_not_exists(pic_path)
fig_name = os.path.join(pic_path, '{}.png'.format(title))
return fig_name
def response(self, phi_list, frequency):
i_freq = np.argmin(np.abs(self.frequencies - frequency))
if self.weights is None and self.filters is not None:
self.weightsFromFilters()
elif self.weights is None and self.filters is None:
raise NameError('Beamforming weights or filters need to be computed first.')
# For the moment assume that we are in 2D
bfresp = np.dot(H(self.weights[:,i_freq]), self.steering_vector_2D(
self.frequencies[i_freq], phi_list, constants.get('ffdist')))
return self.frequencies[i_freq], bfresp
def plot_beam_response(self):
if self.weights is None and self.filters is not None:
self.weightsFromFilters()
elif self.weights is None and self.filters is None:
raise NameError('Beamforming weights or filters need to be computed first.')
phi = np.linspace(-np.pi, np.pi-np.pi/180, 360)
freq = self.frequencies
resp = np.zeros((freq.shape[0], phi.shape[0]), dtype=complex)
for i,f in enumerate(freq):
# For the moment assume that we are in 2D
resp[i,:] = np.dot(H(self.weights[:,i]), self.steering_vector_2D(
f, phi, constants.get('ffdist')))
H_abs = np.abs(resp)**2
H_abs /= H_abs.max()
H_abs = 10*np.log10(H_abs)
p_min = 0
p_max = 100
vmin, vmax = np.percentile(H_abs.flatten(), [p_min, p_max])
import matplotlib.pyplot as plt
plt.imshow(H_abs,
aspect='auto',
origin='lower',
interpolation='sinc',
vmax=vmax, vmin=vmin)
plt.xlabel('Angle [rad]')
xticks = [-np.pi, -np.pi/2, 0, np.pi/2, np.pi]
for i,p in enumerate(xticks):
xticks[i] = np.argmin(np.abs(p - phi))
xticklabels = ['$-\pi$', '$-\pi/2$', '0', '$\pi/2$', '$\pi$']
plt.setp(plt.gca(), 'xticks', xticks)
plt.setp(plt.gca(), 'xticklabels', xticklabels)
plt.ylabel('Freq [kHz]')
yticks = np.zeros(4)
f_0 = np.floor(self.Fs/8000.)
for i in np.arange(1,5):
yticks[i-1] = np.argmin(np.abs(freq - 1000.*i*f_0))
#yticks = np.array(plt.getp(plt.gca(), 'yticks'), dtype=np.int)
plt.setp(plt.gca(), 'yticks', yticks)
plt.setp(plt.gca(), 'yticklabels', np.arange(1,5)*f_0)
def beam_pattern_polar(self, f, save_fig=False):
title = '{}_{}_f_{}'.format('Beampattern_Polar', self.beam_label, f)
if save_fig:
fig_name = self._set_fig_name(title)
else:
fig_name = None
response = self.beam_pattern(f)
#expand to pi to 2*pi, when plot polar
sweep_angle = np.concatenate((constants.get('angle_range'),
(constants.get('angle_range') + np.pi)),
axis=0)
response = np.concatenate((response, np.fliplr([response])[0]), axis=0)
plot = Plot()
plot.append_axes(polar=True)
plot.plot_vector(response, sweep_angle)
plot.set_pipeline(xlim=(0, 2 * np.pi),
ylim=(-50, np.max(response) + 1),
title=title,
xlabel='Azimuth Angle[Deg]',
fig_name=fig_name)
def farFieldWeights(self, phi):
'''
This method computes weight for a far field at infinity
phi: direction of beam
'''
u = unit_vec2D(phi)
proj = np.dot(u.T, self.R - self.center)[0]
# normalize the first arriving signal to ensure a causal filter
proj -= proj.max()
self.weights = np.exp(2j * np.pi *
self.frequencies[:, np.newaxis] * proj / constants.get('c')).T
def beam_pattern_cartesian(self, save_fig=False):
title = '{}_{}'.format('Beampattern_Cartesian', self.beam_label)
if save_fig:
fig_name = self._set_fig_name(title)
else:
fig_name = None
response = self.beam_pattern()
plot = Plot()
plot.append_axes()
plot.plot_vector(response, np.degrees(constants.get('angle_range')))
plot.set_pipeline(xlim=(0, 180),
ylim=(np.min(response) - 1, np.max(response) + 1),
title=title,
xlabel='Azimuth Angle[Deg]',
ylabel='Beampattern[dB]',
fig_name=fig_name)
def fig_name(self, fig_type):
'''
fig name : fig_type combine all the beamformings' label
Parameter
---------
fig_type: string
the fig type, such as beampattern polar or cartesian
'''
title = ''
# combine all beamforming instance label together
for beam in self._beamforming_list:
title = '{}_{}'.format(title, beam['beam_instance'].beam_label)
title = '{}{}'.format(fig_type, title)
pic_path = os.path.join(constants.get('pic_path'),
'beamforming_compare')
make_directory_if_not_exists(pic_path)
return os.path.join(pic_path, '{}.png'.format(title))
def _array_gain_freq_response(self, wng_or_df, plot=True, save_fig=False):
'''
plot array gain agaist freq
Parameters
----------
wng_or_df: string
Directivity: draw directivity agaist frequency
White_Noise_Gain: draw white_noise_gain agaist frequency
'''
freq_range = constants.get('freq_range_large')
array_gain = np.zeros_like(freq_range, dtype=np.float64)
for freq_index, freq in enumerate(freq_range):
if wng_or_df == 'White_Noise_Gain':
array_gain[freq_index] = self.white_noise_gain(freq)
elif wng_or_df == 'Directivity':
array_gain[freq_index] = self.directivity(freq)
if plot:
title = '{}_{}'.format(wng_or_df, self.beam_label)
if save_fig:
fig_name = self._set_fig_name(title)
else:
fig_name = None
# title = '{}_{}'.format(wng_or_df, self.title_tmp)
# fig_name = os.path.join(self.pic_path ,'{}.png'.format(title))
plot = Plot()
plot.append_axes()
plot.plot_vector(array_gain, freq_range)
plot.set_pipeline(
title=title,
xlabel='Freq[Hz]',
ylabel=wng_or_df,
xlim=[0, np.max(freq_range)],
ylim=[np.min(array_gain) - 5,
np.max(array_gain) + 5],
fig_name=fig_name)
return None
return array_gain
def diffuse_noise_coherence(self, f, alpha=None):
'''
Compute the spherically isotropic(diffuse) noise field coherence matrix
Parameters
----------
f: float
frequency
alpha: float
diffuse factor, if the value is zero it reprensents an full isotropic duffuse sound
'''
[m_mat, n_mat] = np.meshgrid(np.arange(self.M), np.arange(self.M))
mat = 2 * f * (n_mat - m_mat) * (self.d_mic / constants.get('c'))
noise_coherence = np.sinc(mat)
if alpha:
noise_coherence = (
1 - alpha) * noise_coherence + alpha * np.identity(self.M)
return noise_coherence
def highpass(signal, Fs, fc=None, plot=False):
'''
Filter out the really low frequencies, default is below 50Hz
'''
if fc is None:
fc = constants.get('fc_hp')
# have some predefined parameters
rp = 5 # minimum ripple in dB in pass-band
rs = 60 # minimum attenuation in dB in stop-band
n = 4 # order of the filter
type = 'butter'
# normalized cut-off frequency
wc = 2. * fc / Fs
# design the filter
from scipy.signal import iirfilter, lfilter, freqz
b, a = iirfilter(n, Wn=wc, rp=rp, rs=rs, btype='highpass', ftype=type)
# plot frequency response of filter if requested
if (plot):
import matplotlib.pyplot as plt
w, h = freqz(b, a)
plt.figure()
plt.title('Digital filter frequency response')
plt.plot(w, 20 * np.log10(np.abs(h)))
plt.title('Digital filter frequency response')
plt.ylabel('Amplitude Response [dB]')
plt.xlabel('Frequency (rad/sample)')
plt.grid()
# apply the filter
signal = lfilter(b, a, signal.copy())
return signal
def diffuse_noise_coherence(self, theta_list=constants.get('angle_range')):
'''
The equivalent form of diffuse noise coherence in the time domain
Parameter
---------
theta_list : array
default, 0-pi
'''
g_phi = []
for theta in theta_list:
g = self.steer_vector(theta)
x = g.dot(g.T)
g_phi.append(g.dot(g.T))
g_phi = np.array(g_phi)
int_g = np.zeros((g_phi.shape[1], g_phi.shape[2]))
d_theta = theta_list[1] - theta_list[0]
for id1 in np.arange(g_phi.shape[1]):
for id2 in np.arange(g_phi.shape[2]):
int_g[id1, id2] = np.sum(g_phi[:, id1, id2] *
np.sin(theta_list) * d_theta)
return int_g / 2
def steer_vector(self, f, theta=None):
'''
Computing steer vector[导向矢量]
Parameters
----------
f: float
frequency for computing
theta : angle list or array
return: steervector when theta is list or array; single exp function when theta is a single value
'''
if theta is None:
theta = constants.get('angle_range')
# theta = self.phi
if isinstance(theta, list):
theta = np.asarray(theta)
delay = np.outer(self.unit_delay(theta), np.arange(self.M))
steer_vector = np.exp(-2j * np.pi * f * delay)
return steer_vector.T
def beam_pattern(self, polar, save_fig):
'''
plot either beamforming or beamforming group's beampattern
Case1 -- if the beamforming is a time domain beamforming, either ploar or catersian
all the beam instance are plotted in the same figure, because it's frequency invariant.
Case2-- if the beamforming is a frequency domain beamforming, then if polar, it will be plotted in 4 figures,
every figure represents a single frequency.
if catesian, the figure number is equal to the beamforming instance number. One figure represents
a beamforming, the different frequency plotted in this same figure.
Parameters
----------
polar: bool True or False
save_fig: bool True of False
'''
if self._beamforming_cout == 0:
raise ValueError(
'No beamforming to analysis! Please append one firstly!')
beamforming_dict = self._beamforming_list[0]
coordinate = 'Polar' if polar else 'Cartesian'
title = '{coordinate} Beampattern for {domain}Domain {dtype}Beamforming'.format(
coordinate=coordinate,
domain=(beamforming_dict.get('beam_domain')).capitalize(),
dtype=(beamforming_dict.get('beam_type')).capitalize())
if polar:
sweep_angle = np.concatenate(
(constants.get('angle_range'),
(constants.get('angle_range') + np.pi)),
axis=0)
xlim = (0, 2 * np.pi)
else:
sweep_angle = np.degrees(constants.get('angle_range'))
xlim = (0, 180)
if beamforming_dict.get('beam_domain') == 'time':
plot = Plot(figsize=(6, 6)) if polar else Plot(figsize=(8, 5))
plot.append_axes_combo(polar=polar)
axis_limit_max = 0
axis_limit_min = 0
for beam_index, beam in enumerate(self._beamforming_list):
response = beam['beam_instance'].beam_pattern()
axis_limit_max = np.maximum(axis_limit_max, np.max(response))
axis_limit_min = np.minimum(axis_limit_min, np.min(response))
if polar:
response = np.concatenate(
(response, np.fliplr([response])[0]), axis=0)
plot.plot_vector(response,
sweep_angle,
label=beam['beam_instance'].beam_label)
plot.set_pipeline(xlim=xlim,
ylim=(axis_limit_min - 1, axis_limit_max + 1),
title=title,
xlabel='Azimuth Angle[Deg]',
wait_for_user=False)
plot.set_legend(loc=(0.7, 0.01), fontsize=6)
elif beamforming_dict.get('beam_domain') == 'frequency':
if polar:
mini_freq_range = constants.get('freq_range_mini')
plot = Plot(figsize=(8, 8), subplot_cols=2, subplot_rows=2)
plot.append_axes_combo(polar=True)
# axis_limit_max = 0
# axis_limit_min = 0
for beam_index, beam in enumerate(self._beamforming_list):
for freq_index, freq in enumerate(mini_freq_range):
# get response
response = beam['beam_instance'].beam_pattern(freq)
# axis_limit_max = np.maximum(axis_limit_max, np.max(response))
# axis_limit_min = np.minimum(axis_limit_min, np.min(response))
response = np.concatenate(
(response, np.fliplr([response])[0]), axis=0)
# plot
plot.plot_vector(
response,
sweep_angle,
label=beam['beam_instance'].beam_label,
subplot_index=freq_index)
plot.set_pipeline(
xlim=(0, 2 * np.pi),
ylim=(-50, 1),
title='',
xlabel='Azimuth Angle[Deg]_{}Hz'.format(freq),
wait_for_user=False,
subplot_index=freq_index)
plot.set_legend(loc=(0.5, 0.01), fontsize=6, subplot_index=3)
plot.suptitle(title)
else:
plot = Plot(figsize=(8, 4 * self._beamforming_cout),
subplot_rows=self._beamforming_cout)
plot.append_axes_combo()
axis_limit_max = 0
axis_limit_min = 0
for beam_index, beam in enumerate(self._beamforming_list):
for freq in constants.get('freq_range_small'):
response = beam['beam_instance'].beam_pattern(freq)
axis_limit_max = np.maximum(axis_limit_max,
np.max(response))
axis_limit_min = np.minimum(axis_limit_min,
np.min(response))
plot.plot_vector(response,
np.degrees(
constants.get('angle_range')),
label='{} kHz'.format(freq / 1000),
subplot_index=beam_index)
plot.set_pipeline(
title=beam['beam_instance'].beam_label,
xlim=xlim,
ylim=(axis_limit_min - 1, axis_limit_max + 1),
xlabel='Azimuth Angle[Deg]',
ylabel='Beampatten[dB]',
wait_for_user=False,
subplot_index=beam_index)
plot.set_legend(subplot_index=self._beamforming_cout - 1)
if self._beamforming_cout > 1:
plot.suptitle(title, 0.5)
if save_fig:
fig_name = self.fig_name(
'Beampattern_{coordinate}'.format(coordinate=coordinate))
plot.save_figure(fig_name)
plot.wait_for_user()
def rakeOneForcingFilters(self, sources, interferers, R_n, epsilon=5e-3):
'''
Compute the time-domain filters of a beamformer with unit response
towards multiple sources.
'''
dist_mat = distance(self.R, sources.images)
s_time = dist_mat / constants.get('c')
s_dmp = 1./(4*np.pi*dist_mat)
dist_mat = distance(self.R, interferers.images)
i_time = dist_mat / constants.get('c')
i_dmp = 1./(4*np.pi*dist_mat)
# compute offset needed for decay of sinc by epsilon
offset = np.maximum(s_dmp.max(), i_dmp.max())/(np.pi*self.Fs*epsilon)
t_min = np.minimum(s_time.min(), i_time.min())
t_max = np.maximum(s_time.max(), i_time.max())
# adjust timing
s_time -= t_min - offset
i_time -= t_min - offset
Lh = np.ceil((t_max - t_min + 2*offset)*float(self.Fs))
# the channel matrix
K = sources.images.shape[1]
Lg = self.Lg
off = (Lg - Lh)/2
L = self.Lg + Lh - 1
H = np.zeros((Lg*self.M, 2*L))
As = np.zeros((Lg*self.M, K))
for r in np.arange(self.M):
# build constraint matrix
hs = u.lowPassDirac(s_time[r,:,np.newaxis], s_dmp[r,:,np.newaxis], self.Fs, Lh)[:,::-1]
As[r*Lg+off:r*Lg+Lh+off,:] = hs.T
# build interferer RIR matrix
hx = u.lowPassDirac(s_time[r,:,np.newaxis], s_dmp[r,:,np.newaxis], self.Fs, Lh).sum(axis=0)
H[r*Lg:(r+1)*Lg,:L] = u.convmtx(hx, Lg).T
# build interferer RIR matrix
hq = u.lowPassDirac(i_time[r,:,np.newaxis], i_dmp[r,:,np.newaxis], self.Fs, Lh).sum(axis=0)
H[r*Lg:(r+1)*Lg,L:] = u.convmtx(hq, Lg).T
ones = np.ones((K,1))
# We first assume the sample are uncorrelated
K_x = np.dot(H[:,:L], H[:,:L].T)
K_nq = np.dot(H[:,L:], H[:,L:].T) + R_n
# Compute the TD filters
K_nq_inv = np.linalg.inv(K_x+K_nq)
C = np.dot(K_nq_inv, As)
B = np.linalg.inv(np.dot(As.T, C))
g_val = np.dot(C, np.dot(B, ones))
self.filters = g_val.reshape((self.M,Lg))
# compute and return SNR
A = np.dot(g_val.T, H[:,:L])
num = np.dot(A, A.T)
denom = np.dot(np.dot(g_val.T, K_nq), g_val)
return num/denom
def microphone_array(self, *, d_mic, M):
phi = self.sound_field._desired_signal_dict['phi']
self.sound_field._uniform_array = FrequencyDomainULABase(d_mic, M, phi)
self.sound_field.Ts = self.sound_field._uniform_array.d_mic / constants.get('c')
def build_rir_matrix(mics, sources, Lg, Fs, epsilon=5e-3, unit_damping=False):
'''
A function to build the channel matrix for many sources and microphones
Parameters
----------
mics: ndarray
a dim-by-M ndarray where each column is the position of a microphone
sources: list of pyroomacoustics.SoundSource
list of sound sources for which we want to build the matrix
Lg: int
the length of the beamforming filters
Fs: int
the sampling frequency
epsilon: float, optional
minimum decay of the sinc before truncation. Defaults to epsilon=5e-3
unit_damping: bool, optional
determines if the wall damping parameters are used or not. Default to false.
Returns
-------
the function returns the RIR matrix H =
::
--------------------
| H_{11} H_{12} ...
| ...
|
--------------------
where H_{ij} is channel matrix between microphone i and source j.
H is of type (M*Lg)x((Lg+Lh-1)*S) where Lh is the channel length (determined by epsilon),
and M, S are the number of microphones, sources, respectively.
'''
from .beamforming import distance
from .utilities import low_pass_dirac, convmtx
# set the boundaries of RIR filter for given epsilon
d_min = np.inf
d_max = 0.
dmp_max = 0.
for s in range(len(sources)):
dist_mat = distance(mics, sources[s].images)
if unit_damping is True:
dmp_max = np.maximum((1. / (4 * np.pi * dist_mat)).max(), dmp_max)
else:
dmp_max = np.maximum((sources[s].damping[np.newaxis, :] /
(4 * np.pi * dist_mat)).max(), dmp_max)
d_min = np.minimum(dist_mat.min(), d_min)
d_max = np.maximum(dist_mat.max(), d_max)
t_max = d_max / constants.get('c')
t_min = d_min / constants.get('c')
offset = dmp_max / (np.pi * Fs * epsilon)
# RIR length
Lh = int((t_max - t_min + 2 * offset) * float(Fs))
# build the channel matrix
L = Lg + Lh - 1
H = np.zeros((Lg * mics.shape[1], len(sources) * L))
for s in range(len(sources)):
for r in np.arange(mics.shape[1]):
dist = sources[s].distance(mics[:, r])
time = dist / constants.get('c') - t_min + offset
if unit_damping == True:
dmp = 1. / (4 * np.pi * dist)
else:
dmp = sources[s].damping / (4 * np.pi * dist)
h = low_pass_dirac(time[:, np.newaxis], dmp[:, np.newaxis], Fs,
Lh).sum(axis=0)
H[r * Lg:(r + 1) * Lg, s * L:(s + 1) * L] = convmtx(h, Lg).T
return H