void outputReopen()
{
outputCleanup();
outputInit();
}
int main (int argc, char* argv[])
{
int file_index = 1;
int frame_number = 0;
unsigned char channel = 0;
int frame_index = 0;
int source_index = 0;
int source_id;
float x,y,z;
short audio_raw_data[RAW_BUFFER_SIZE];
float audio_float_data[NB_MICROPHONES][SAMPLES_PER_FRAME];
struct objOverall workspace;
const char* sepFileName = "separated*****.wav";
const char* postFileName = "postfiltered*****.wav";
const char* trackFileName = "tracked.dat";
const char* separator = "-";
char* sepPath;
char* postPath;
char* trackPath;
FILE* filePtr = NULL;
FILE* trackFilePtr = NULL;
// Create the workspace
workspace = createEmptyOverallContext();
//Default parameters
ParametersLoadDefault(workspace.myParameters);
if (argc != 3)
{
printf("Usage %s ''raw files''\n",argv[0]);
return -1;
}
if (argv[1][1] == 'r')
{
// Some fine tunings of the parameters for the robot
workspace.myParameters->P_BF_ET = 450;
workspace.myParameters->P_MIXTURE_NEWTHRESHOLD = 0.3;
workspace.myParameters->P_MIXTURE_CUMULATIVETIME1 = 150;
workspace.myParameters->P_MIXTURE_TOBS1 = 0.2;
workspace.myParameters->P_MIXTURE_CUMULATIVETIME2 = 400;
workspace.myParameters->P_MIXTURE_TOBS2 = 0.99;
workspace.myParameters->P_GSS_MU = 0.02;
workspace.myParameters->P_OUT_GAIN = 10;
workspace.myParameters->P_FILTER_INERTIAX = 0.5;
workspace.myParameters->P_FILTER_INERTIAY = 0.5;
workspace.myParameters->P_FILTER_INERTIAZ = 0.05;
workspace.myParameters->P_FILTER_NEWSTOP = 0.50;
workspace.myParameters->P_FILTER_NEWCONST = 0.40;
workspace.myParameters->P_FILTER_NEWEXC = 0.10;
workspace.myParameters->P_GEN_DYNSOURCES = 2;
workspace.myParameters->P_GEO_MICS_MIC1_X = 0.02999999933;
workspace.myParameters->P_GEO_MICS_MIC1_Y = -0.1000000015;
workspace.myParameters->P_GEO_MICS_MIC1_Z = -0.01999999955;
workspace.myParameters->P_GEO_MICS_MIC2_X = 0.1000000015;
workspace.myParameters->P_GEO_MICS_MIC2_Y = 0;
workspace.myParameters->P_GEO_MICS_MIC2_Z = -0.200000003;
workspace.myParameters->P_GEO_MICS_MIC3_X = 0.1199999973;
workspace.myParameters->P_GEO_MICS_MIC3_Y = 0;
workspace.myParameters->P_GEO_MICS_MIC3_Z = -0.6899999976;
workspace.myParameters->P_GEO_MICS_MIC4_X = 0.02999999933;
workspace.myParameters->P_GEO_MICS_MIC4_Y = 0.1000000015;
workspace.myParameters->P_GEO_MICS_MIC4_Z = -0.01999999955;
workspace.myParameters->P_GEO_MICS_MIC5_X = -0.1700000018;
workspace.myParameters->P_GEO_MICS_MIC5_Y = 0.1099999994;
workspace.myParameters->P_GEO_MICS_MIC5_Z = -0.2700000107;
workspace.myParameters->P_GEO_MICS_MIC6_X = -0.1700000018;
workspace.myParameters->P_GEO_MICS_MIC6_Y = 0.1099999994;
workspace.myParameters->P_GEO_MICS_MIC6_Z = -0.7200000286;
workspace.myParameters->P_GEO_MICS_MIC7_X = -0.1700000018;
workspace.myParameters->P_GEO_MICS_MIC7_Y = -0.1099999994;
workspace.myParameters->P_GEO_MICS_MIC7_Z = -0.7200000286;
workspace.myParameters->P_GEO_MICS_MIC8_X = -0.1700000018;
workspace.myParameters->P_GEO_MICS_MIC8_Y = -0.1099999994;
workspace.myParameters->P_GEO_MICS_MIC8_Z = -0.2700000107;
}
else
{
// Some fine tunings of the parameters for the cube
workspace.myParameters->P_BF_ET = 600;
workspace.myParameters->P_MIXTURE_NEWTHRESHOLD = 0.1;
workspace.myParameters->P_MIXTURE_CUMULATIVETIME1 = 150;
workspace.myParameters->P_MIXTURE_TOBS1 = 0.2;
workspace.myParameters->P_MIXTURE_CUMULATIVETIME2 = 200;
workspace.myParameters->P_MIXTURE_TOBS2 = 0.99;
workspace.myParameters->P_GSS_MU = 0.02;
workspace.myParameters->P_OUT_GAIN = 10;
workspace.myParameters->P_FILTER_INERTIAX = 0.5;
workspace.myParameters->P_FILTER_INERTIAY = 0.5;
workspace.myParameters->P_FILTER_INERTIAZ = 0.05;
workspace.myParameters->P_FILTER_NEWSTOP = 0.50;
workspace.myParameters->P_FILTER_NEWCONST = 0.40;
workspace.myParameters->P_FILTER_NEWEXC = 0.10;
workspace.myParameters->P_GEN_DYNSOURCES = 2;
}
// Initialize the microphones
microphonesInit(workspace.myMicrophones, NB_MICROPHONES);
//Change your microphone positions here...
//This is a copy of what is in ParametersLoadDefault right now...
setup_microphone_positions_and_gains(workspace.myParameters, workspace.myMicrophones);
file_index = 2;
printf("Processing : %s \n",argv[file_index]);
//Open file in binary mode
filePtr = fopen(argv[file_index], "rb");
if (filePtr == NULL)
{
printf("Invalid file %s \n",argv[file_index]);
return -1;
}
// Generate the paths for the separated and postfiltered sources
sepPath = (char*) malloc(sizeof(char) * 1024);
postPath = (char*) malloc(sizeof(char) * 1024);
trackPath = (char*) malloc(sizeof(char) * 1024);
strcpy(sepPath, argv[file_index]);
strcat(sepPath, separator);
strcat(sepPath, sepFileName);
strcpy(postPath, argv[file_index]);
strcat(postPath, separator);
strcat(postPath, postFileName);
strcpy(trackPath, argv[file_index]);
strcat(trackPath, separator);
strcat(trackPath, trackFileName);
// Initialize the preprocessor
preprocessorInit(workspace.myPreprocessor, workspace.myParameters, workspace.myMicrophones);
// Initialize the beamformer
beamformerInit(workspace.myBeamformer, workspace.myParameters, workspace.myMicrophones);
// Initialize the mixture
mixtureInit(workspace.myMixture, workspace.myParameters);
// Initialize the gss
gssInit(workspace.myGSS, workspace.myParameters, workspace.myMicrophones);
// Initialize the postfilter
postfilterInit(workspace.myPostfilter, workspace.myParameters);
// Initialize the postprocessor
postprocessorInit(workspace.myPostprocessorSeparated, workspace.myParameters);
postprocessorInit(workspace.myPostprocessorPostfiltered, workspace.myParameters);
// Initialize the potential sources
potentialSourcesInit(workspace.myPotentialSources, workspace.myParameters);
// Initialize the tracked sources
trackedSourcesInit(workspace.myTrackedSources, workspace.myParameters);
// Initialize the separated sources
separatedSourcesInit(workspace.mySeparatedSources, workspace.myParameters);
// Initialize the postfiltered sources
postfilteredSourcesInit(workspace.myPostfilteredSources, workspace.myParameters);
// Initialize the output
outputInit(workspace.myOutputSeparated, workspace.myParameters, NULL, NULL, sepPath, '*');
outputInit(workspace.myOutputPostfiltered, workspace.myParameters, NULL, NULL, postPath, '*');
//reset frame number
frame_number = 0;
//set data to zero
memset(audio_raw_data,0,RAW_BUFFER_SIZE * sizeof(short));
// Create file with tracked sources
trackFilePtr = fopen(trackPath, "wb");
fclose(trackFilePtr);
while(fread(audio_raw_data,sizeof(short),RAW_BUFFER_SIZE,filePtr) > 0)
{
printf("Processing frame %i:\n",frame_number);
//#1 - Let's create the float data for processing
for (channel = 0; channel < NB_MICROPHONES; channel++)
{
for (frame_index = 0; frame_index < SAMPLES_PER_FRAME; frame_index++)
{
audio_float_data[channel][frame_index] = ((float) audio_raw_data[channel + (NB_MICROPHONES * frame_index)]) / 32768.0;
}
// Copy frames to the beamformer frames, will do 50% overlap internally
preprocessorPushFrames(workspace.myPreprocessor, SAMPLES_PER_FRAME, channel);
preprocessorAddFrame(workspace.myPreprocessor, &audio_float_data[channel][0], channel, SAMPLES_PER_FRAME);
}
//#2 Preprocess
preprocessorProcessFrame(workspace.myPreprocessor);
//#3 Find potential sources from the beamformer
beamformerFindMaxima(workspace.myBeamformer, workspace.myPreprocessor, workspace.myPotentialSources);
//#4 Track Sources
mixtureUpdate(workspace.myMixture, workspace.myTrackedSources, workspace.myPotentialSources);
//#5 Separate sources
gssProcess(workspace.myGSS, workspace.myPreprocessor, workspace.myTrackedSources, workspace.mySeparatedSources);
postfilterProcess(workspace.myPostfilter, workspace.mySeparatedSources, workspace.myPreprocessor, workspace.myPostfilteredSources);
//#6 Postprocess
postprocessorProcessFrameSeparated(workspace.myPostprocessorSeparated, workspace.myTrackedSources, workspace.mySeparatedSources);
postprocessorProcessFramePostfiltered(workspace.myPostprocessorPostfiltered, workspace.myTrackedSources, workspace.myPostfilteredSources);
//#7 Output results in files
outputProcess(workspace.myOutputSeparated, workspace.myPostprocessorSeparated);
outputProcess(workspace.myOutputPostfiltered, workspace.myPostprocessorPostfiltered);
//#8 Output results in terminal and file
trackFilePtr = fopen(trackPath, "ab");
for (source_index = 0; source_index < trackedSourcesGetMaxNumberSources(workspace.myTrackedSources); source_index++)
{
source_id = trackedSourcesGetID(workspace.myTrackedSources,source_index);
if (source_id != ID_NOSOURCE)
{
x = trackedSourcesGetX(workspace.myTrackedSources,source_index);
y = trackedSourcesGetY(workspace.myTrackedSources,source_index);
z = trackedSourcesGetZ(workspace.myTrackedSources,source_index);
}
else
{
x = 0.0;
y = 0.0;
z = 0.0;
}
printf("Source ID: %i x: %f y: %f z: %f\n",source_id,x,y,z);
fprintf(trackFilePtr, "%i %f %f %f\n", source_id, x, y, z);
}
fprintf(trackFilePtr, "\n");
fclose(trackFilePtr);
printf("\n");
//next frame
frame_number++;
}
//terminate
preprocessorTerminate(workspace.myPreprocessor);
beamformerTerminate(workspace.myBeamformer);
mixtureTerminate(workspace.myMixture);
gssTerminate(workspace.myGSS);
postfilterTerminate(workspace.myPostfilter);
postprocessorTerminate(workspace.myPostprocessorSeparated);
postprocessorTerminate(workspace.myPostprocessorPostfiltered);
potentialSourcesTerminate(workspace.myPotentialSources);
trackedSourcesTerminate(workspace.myTrackedSources);
separatedSourcesTerminate(workspace.mySeparatedSources);
postfilteredSourcesTerminate(workspace.myPostfilteredSources);
outputTerminate(workspace.myOutputSeparated);
outputTerminate(workspace.myOutputPostfiltered);
//Close file (will cleanup memory)
fclose(filePtr);
microphonesTerminate(workspace.myMicrophones);
return 0;
}
