def run(self):
self.done = False
while not self.done:
data = self.queue.get()
data = np.fromstring(data, dtype='int16')
offsets = [0] * self.channels
for i in range(1, self.channels):
offsets[i], _ = gcc_phat(data[i::self.channels],
data[0::self.channels],
max_tau=self.max_offset,
interp=1)
self.sum.fill(0)
half = int(self.frames_size / 2)
for i in range(self.channels):
offset = int(offsets[i])
self.sum[:half -
offset] += (self.last[i::self.channels])[half +
offset:]
self.sum[half - offset:] += (data[i::self.channels])[:half +
offset]
self.last = data
out = np.array(self.sum / self.channels, dtype='int16')
super(DelaySum, self).put(out.tostring())
def get_direction(self):
buf = b''.join(self.queue)
buf = np.fromstring(buf, dtype='int16')
tau, _ = gcc_phat(buf[0::8],
buf[3::8],
fs=self.sample_rate,
max_tau=MAX_TDOA,
interp=4)
theta = np.arcsin(tau / MAX_TDOA) * 180 / np.pi
return theta
def get_direction(self):
tau = [0, 0, 0]
theta = [0, 0, 0]
buf = b''.join(self.queue)
buf = np.fromstring(buf, dtype='int16')
for i, v in enumerate(self.pair):
tau[i], _ = gcc_phat(buf[v[0]::8], buf[v[1]::8], fs=self.sample_rate, max_tau=MAX_TDOA_6,
interp=1)
theta[i] = np.arcsin(tau[i] / MAX_TDOA_6) * 180 / np.pi
min_index = np.argmin(np.abs(tau))
if (min_index != 0 and theta[min_index - 1] >= 0) or (min_index == 0 and theta[len(self.pair) - 1] < 0):
best_guess = (theta[min_index] + 360) % 360
else:
best_guess = (180 - theta[min_index])
best_guess = (best_guess + 30 + min_index * 60) % 360
return best_guess