def testAngularMethod(self):
sample_rate = 16000
sample_delay = 5
angle = math.pi / 6
if abs(math.cos(angle)) > 1e-10:
dist = sample_delay * pa_tools.SPEED_OF_SOUND / (sample_rate * math.cos(angle))
else:
dist = 1
sample_delay = 0
print "distance: " + str(dist)
mics = np.array([[0., 0.], [dist, 0.]], dtype=np.float32)
data_len = 100
data1 = np.random.rand(1, data_len)
if sample_delay > 0:
data2 = np.concatenate((np.random.rand(1, sample_delay),
[data1[0, :-sample_delay]]), axis=1)
else:
data2 = data1
# Get dfts
fft1 = fftp.fft(data1[0])
fft2 = fftp.fft(data2[0])
ffts = np.array([fft1, fft2])
loc = DirectionLocalizer(mics, sample_rate=sample_rate)
direction = loc.get_direction_np(ffts)
print "direction: " + str(direction)
# Plot
plt.figure()
plt.plot(mics[:, 0], mics[:, 1], 'bo')
plt.quiver(0, 0, direction[0], direction[1], scale=20)
plt.show()
def testAngularMethod(self):
sample_rate = 16000
sample_delay = 5
angle = math.pi / 6
if abs(math.cos(angle)) > 1e-10:
dist = sample_delay * pa_tools.SPEED_OF_SOUND / (sample_rate *
math.cos(angle))
else:
dist = 1
sample_delay = 0
print "distance: " + str(dist)
mics = np.array([[0., 0.], [dist, 0.]], dtype=np.float32)
data_len = 100
data1 = np.random.rand(1, data_len)
if sample_delay > 0:
data2 = np.concatenate(
(np.random.rand(1, sample_delay), [data1[0, :-sample_delay]]),
axis=1)
else:
data2 = data1
# Get dfts
fft1 = fftp.fft(data1[0])
fft2 = fftp.fft(data2[0])
ffts = np.array([fft1, fft2])
loc = DirectionLocalizer(mics, sample_rate=sample_rate)
direction = loc.get_direction_np(ffts)
print "direction: " + str(direction)
# Plot
plt.figure()
plt.plot(mics[:, 0], mics[:, 1], 'bo')
plt.quiver(0, 0, direction[0], direction[1], scale=20)
plt.show()
def testGetDirectionOrthogonal(self):
sample_rate = 44100
mics = np.array([[-.025], [.025]], dtype=np.float32)
source_loc = np.array([10])
dist_1 = np.linalg.norm(source_loc - mics[0, :], 2)
dist_2 = np.linalg.norm(source_loc - mics[1, :], 2)
loc = DirectionLocalizer(mic_layout=mics, sample_rate=sample_rate, shift_n=20, shift_max=2)
data = np.array([1, -2, 3, 4, 0, 0, 1, 2], dtype=np.float32)
fft = fftp.fft(data)
ffts = np.array([fft, fft])
direction = loc.get_direction_np(ffts)
self.assertListFloatEqual([0.0], direction)
def testGetDirectionOrthogonal(self):
sample_rate = 44100
mics = np.array([[-.025], [.025]], dtype=np.float32)
source_loc = np.array([10])
dist_1 = np.linalg.norm(source_loc - mics[0, :], 2)
dist_2 = np.linalg.norm(source_loc - mics[1, :], 2)
loc = DirectionLocalizer(mic_layout=mics,
sample_rate=sample_rate,
shift_n=20,
shift_max=2)
data = np.array([1, -2, 3, 4, 0, 0, 1, 2], dtype=np.float32)
fft = fftp.fft(data)
ffts = np.array([fft, fft])
direction = loc.get_direction_np(ffts)
self.assertListFloatEqual([0.0], direction)
def testGetDirection3Mic(self):
sample_rate = 16000
sample_delay = 3
# Get side_length of mic triangle so that the sample
# delay will be an integer if source comes from direction
# perpendicular to some side of the triangle
side_length = 2 * sample_delay * pa_tools.SPEED_OF_SOUND / (
np.sqrt(3) * sample_rate)
mics = np.array([[0, side_length / np.sqrt(3)],
[side_length / 2, -side_length / (2 * np.sqrt(3))],
[-side_length / 2, -side_length / (2 * np.sqrt(3))]])
# Sides are orthogonal to directions (sqrt(3)/2, 1/2), (-sqrt(3)/2, 1/2), (0, 1)
data_len = 100
data1 = np.random.rand(1, data_len)
if sample_delay > 0:
data2 = np.concatenate(
(np.random.rand(1, sample_delay), [data1[0, :-sample_delay]]),
axis=1)
else:
data2 = data1
# Get dfts
fft1 = fftp.fft(data1[0])
fft2 = fftp.fft(data2[0])
loc = DirectionLocalizer(mic_layout=mics,
sample_rate=sample_rate,
shift_max=data_len / 2,
shift_n=100)
ffts = np.array([fft1, fft1, fft2])
# Get peaks and direction
peaks = loc.get_peaks(ffts)
print "Sample delay from mic 1: " + str(
peaks[0, (np.argmax(peaks, 1))[1:]])
direction = loc.get_direction_np(ffts)
print "Direction to source: " + str(direction)
direction /= np.linalg.norm(direction, 2) # Normalize
direction *= 10 # Scale for plotting
print mics
# Plot
plt.figure()
plt.plot(mics[:, 0], mics[:, 1], 'bo')
plt.quiver(0, 0, direction[0], direction[1], scale=20)
plt.show()
def testGetDirection3Mic(self):
sample_rate = 16000
sample_delay = 3
# Get side_length of mic triangle so that the sample
# delay will be an integer if source comes from direction
# perpendicular to some side of the triangle
side_length = 2 * sample_delay * pa_tools.SPEED_OF_SOUND / (np.sqrt(3) * sample_rate)
mics = np.array([[0, side_length / np.sqrt(3)],
[side_length / 2, -side_length / (2 * np.sqrt(3))],
[-side_length / 2, -side_length / (2 * np.sqrt(3))]])
# Sides are orthogonal to directions (sqrt(3)/2, 1/2), (-sqrt(3)/2, 1/2), (0, 1)
data_len = 100
data1 = np.random.rand(1, data_len)
if sample_delay > 0:
data2 = np.concatenate((np.random.rand(1, sample_delay),
[data1[0, :-sample_delay]]), axis=1)
else:
data2 = data1
# Get dfts
fft1 = fftp.fft(data1[0])
fft2 = fftp.fft(data2[0])
loc = DirectionLocalizer(mic_layout=mics, sample_rate=sample_rate, shift_max=data_len / 2, shift_n=100)
ffts = np.array([fft1, fft1, fft2])
# Get peaks and direction
peaks = loc.get_peaks(ffts)
print "Sample delay from mic 1: " + str(peaks[0, (np.argmax(peaks, 1))[1:]])
direction = loc.get_direction_np(ffts)
print "Direction to source: " + str(direction)
direction /= np.linalg.norm(direction, 2) # Normalize
direction *= 10 # Scale for plotting
print mics
# Plot
plt.figure()
plt.plot(mics[:, 0], mics[:, 1], 'bo')
plt.quiver(0, 0, direction[0], direction[1], scale=20)
plt.show()