Transférer les fichiers vers 'Code_v1.0.6'
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Code_v1.0.6/CMakeLists.txt
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16
Code_v1.0.6/CMakeLists.txt
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cmake_minimum_required( VERSION 3.10 )
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set(CMAKE_BUILD_TYPE Release)
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project (ssl CXX)
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find_package(PkgConfig)
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pkg_check_modules(ALSA alsa REQUIRED)
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add_executable (Localisation_exe Localisation.cpp)
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target_link_libraries (Localisation_exe ${ALSA_LIBRARIES})
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target_compile_options(Localisation_exe PUBLIC ${ALSA_CFLAGS_OTHER})
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target_include_directories(Localisation_exe PUBLIC ${ALSA_INCLUDE_DIRS})
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install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/Localisation_exe
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DESTINATION bin
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RENAME ${CMAKE_PROJECT_NAME}-Localisation_exe)
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243
Code_v1.0.6/Localisation_v1.0.6.cpp
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Code_v1.0.6/Localisation_v1.0.6.cpp
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#include <iostream>
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using namespace std;
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#include <stdio.h>
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#include <stdlib.h>
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#include <math.h>
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#include <limits.h>
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#include <alsa/asoundlib.h>
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#include "/usr/include/alsa/asoundlib.h"
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//#define SAMPLE_TYPE float
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//#define SAMPLE_TYPE_ALSA SND_PCM_FORMAT_FLOAT_LE
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#define SAMPLE_TYPE short //sample type = type d'echantillon
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#define SAMPLE_TYPE_ALSA SND_PCM_FORMAT_S16_LE
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/**
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* classe permettant de calculer la moyenne glissante du signal
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*/
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class MoyenneGlissante {
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int _nbDeValeursPrMoy;
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int _nbDeValeurs;
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float _mean;
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public:
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MoyenneGlissante(int nbDeValeursPrMoy) {
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_nbDeValeursPrMoy = nbDeValeursPrMoy;
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_mean = 0;
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_nbDeValeurs = 0;
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}
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void nvelleValeur(SAMPLE_TYPE v) {
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if (_nbDeValeurs < _nbDeValeursPrMoy)
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_nbDeValeurs++;
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_mean = ((_mean * (_nbDeValeurs - 1)) + v) / (float)_nbDeValeurs;
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}
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SAMPLE_TYPE getMean() {
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return (SAMPLE_TYPE) _mean;
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}
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};
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/**
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* Cette classe calcule la direction du son entendu
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*
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*
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* Elle utilise 2 microphones et calcule la différence de temps d'arrivée des sons entre eux pour
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* estimer la localisation de la source sonore.
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*/
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class Localisation {
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/**
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* Décalage maximum entre le micro droit et gauche en nombre d'échantillons.
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* Cela dépend généralement de la fréquence d'échantillonnage et de la distance entre
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* microphones
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*/
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static const int _nbEchantillonsDiffMax = 13; //difference max du nombre d'echantillons
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/**
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* Taille du tampon sur laquelle nous allons essayer de localiser le son.
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* Ceci est un certain nombre d'échantillons, et dépend de la fréquence d'échantillonnage et de la vitesse de
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* changement de loc son que nous voulons détecter. Des valeurs plus faibles signifient le calcul du son
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* se fait plus souvent, mais la précision est assez faible car nous calculons sur une très petite tranche de
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* du son.
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*/
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static const int _TailleTampon = 4096;
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/**
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* Prenez un point pour la localisation du son est Niveau> 105% du Niveau moyen. Cela permet de calculer la
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* localisation du son uniquement pour les sons "significatifs", pas le bruit de fond.
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*/
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static constexpr float _NiveauSonMin = 1.1f; //f de 1.05f signifie :float constant with value of 1.05
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/**
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* sound speed in meters per seconds
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*/
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static constexpr float _Vson = 344;
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/**
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* sound sampling rate in Hz
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*/
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unsigned int _TauxEchantillonnageSon;
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/**
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* Distance between microphones in meters
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*/
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static constexpr float _DistanceMic = 0.05f;//5 cm de distance entre les deux microphones
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/** An utility to compute the running average of sound power */
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MoyenneGlissante* _MoyNivSonore;
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/** ALSA sound input handle */
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snd_pcm_t* _capture_handle;
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/** sound samples input buffer */
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SAMPLE_TYPE _TamponDroit[_TailleTampon];
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SAMPLE_TYPE _TamponGauche[_TailleTampon];
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public:
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Localisation() {
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_MoyNivSonore = new MoyenneGlissante(50);
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_TauxEchantillonnageSon = 44100;
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// sampling: 2 chanels, 44 KHz, 16 bits.
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int err;
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snd_pcm_hw_params_t* hw_params;
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// ideally use "hw:0,0" for embedded, to limit processing. But check if card support our needs...
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const char* CarteSon = "plughw:0,0";
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if ((err = snd_pcm_open(&_capture_handle, CarteSon, SND_PCM_STREAM_CAPTURE, 0)) < 0) {
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fprintf(stderr, "Impossible d'ouvrir le peripherique audio %s (%s)\n", CarteSon,snd_strerror(err));
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exit(1);
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}
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if ((err = snd_pcm_hw_params_malloc(&hw_params)) < 0) {
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fprintf(stderr, "Impossible d'allouer la structure des paramètres matériels (%s)\n",snd_strerror(err));
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exit(1);
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}
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if ((err = snd_pcm_hw_params_any(_capture_handle, hw_params)) < 0) {
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fprintf(stderr,"Impossible d'initialiser la structure des paramètres matériels (%s)\n",snd_strerror(err));
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exit(1);
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}
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if ((err = snd_pcm_hw_params_set_access(_capture_handle, hw_params,SND_PCM_ACCESS_RW_NONINTERLEAVED)) < 0) {
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fprintf(stderr, "Impossible de definir le type d'acces (%s)\n", snd_strerror(err));
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exit(1);
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}
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if ((err = snd_pcm_hw_params_set_format(_capture_handle, hw_params,SAMPLE_TYPE_ALSA)) < 0) {
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fprintf(stderr, "Impossible de definir le format d'echantillonnage (%s)\n",snd_strerror(err));
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exit(1);
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}
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if ((err = snd_pcm_hw_params_set_rate_near(_capture_handle, hw_params,&_TauxEchantillonnageSon, 0)) < 0) {
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fprintf(stderr, "Impossible de definir le taux d'echantillonnage (%s)\n", snd_strerror(err));
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exit(1);
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}
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if ((err = snd_pcm_hw_params_set_channels(_capture_handle, hw_params, 2))< 0) {
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fprintf(stderr, "Impossible de definir le nombre de canaux (%s)\n", snd_strerror(err));
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exit(1);
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}
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if ((err = snd_pcm_hw_params(_capture_handle, hw_params)) < 0) {
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fprintf(stderr, "Impossible de definir les parametres (%s)\n", snd_strerror(err));
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exit(1);
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}
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snd_pcm_hw_params_free(hw_params);
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if ((err = snd_pcm_prepare(_capture_handle)) < 0) {
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fprintf(stderr, "Impossible de preparer l'interface audio pour utilisation (%s)\n",snd_strerror(err));
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exit(1);
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}
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}
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/** Clean exit */
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~Localisation() {
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snd_pcm_close(_capture_handle);
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delete _MoyNivSonore;
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}
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/**
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* Boucle principale: lit un tampon, calcule la localisation de la source sonore, fait une itération.
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*/
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void run() {
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while (true) {
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TraitementSonsSuivants();
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}
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}
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private:
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/**
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* C'est le cœur de la localisation de la source sonore: il prend les sons échantillonnés
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* Droit / Gauche, et calcule leurs différences tout en retardant de plus en plus un canal.<br/>
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* => le retard pour lequel la différence est minime est le vrai retard
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* entre les sons Droit / Gauche, dont on peut déduire la source sonore
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* localisation
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*/
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void TraitementSonsSuivants() {
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SAMPLE_TYPE* bufs[2];
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bufs[0] = _TamponDroit;
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bufs[1] = _TamponGauche;
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int err;
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if ((err = snd_pcm_readn(_capture_handle, (void**) bufs, _TailleTampon))!= _TailleTampon) {
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fprintf(stderr, "Echec de la lecture de l'interface audio (%s)\n",snd_strerror(err));
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exit(1);
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}
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// compute the sound level (i.e. "loudness" of the sound):
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SAMPLE_TYPE Niveau = CalculNiv(_TamponDroit, _TamponGauche);
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// update the average sound level with this new measure:
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_MoyNivSonore->nvelleValeur(Niveau);
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// relative sound level of this sample compared to average:
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float NivRelatif = (float) Niveau / (float) _MoyNivSonore->getMean();
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//cout << "level " << level << ", relative " << NivRelatif << endl;
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int minDiff = INT_MAX;
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int minDiffTime = -1;
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// glisse sur l'axe du temps pour trouver la différence sonore minimum entre les microphones Droit et Gauche
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for (int t = -_nbEchantillonsDiffMax; t < _nbEchantillonsDiffMax; t++) {
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// calcule la somme des différences pour simuler une mesure de corrélation croisée:
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int diff = 0;
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for (int i = _nbEchantillonsDiffMax; i < _TailleTampon - _nbEchantillonsDiffMax - 1; i++) {
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diff += abs(_TamponGauche[i] - _TamponDroit[i + t]);
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}
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if (diff < minDiff) {
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minDiff = diff;
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minDiffTime = t;
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}
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}
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// Si le son est assez fort et pas extrême (= ce qui entraine généralement de fausses
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// mesures), alors on le dessine:
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if ((NivRelatif > _NiveauSonMin) && (minDiffTime > -_nbEchantillonsDiffMax) && (minDiffTime < _nbEchantillonsDiffMax)) {
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// computation of angle depending on diff time, sampling rates,
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// and geometry
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float angle = -(float) asin((minDiffTime * _Vson) / (_TauxEchantillonnageSon* _DistanceMic));
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cout << angle << ";" << NivRelatif << endl;
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}
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}
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/**
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* Calcule du niveau sonore moyen (la puissance) pour les canaux gauche et droit.
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*/
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SAMPLE_TYPE CalculNiv(SAMPLE_TYPE Droit[], SAMPLE_TYPE Gauche[]) {
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float Niveau = 0;
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for (int i = 0; i < _TailleTampon; i++) {
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float s = (Gauche[i] + Droit[i]) / 2;
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Niveau += (s * s);
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}
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Niveau /= _TailleTampon;
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Niveau = sqrt(Niveau);
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return (SAMPLE_TYPE) Niveau;
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}
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};
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int main(int argc, char *argv[]) {
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Localisation soundLoc;
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soundLoc.run();
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exit(0);
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}
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104
Code_v1.0.6/SoundSourceDraw.java
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Code_v1.0.6/SoundSourceDraw.java
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//package soundsourceloc;
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import java.awt.BasicStroke;
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import java.awt.BorderLayout;
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import java.awt.Dimension;
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import java.awt.Graphics;
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import java.awt.Graphics2D;
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import java.io.BufferedReader;
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import java.io.IOException;
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import java.io.InputStream;
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import java.io.InputStreamReader;
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import javax.swing.JFrame;
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import javax.swing.JPanel;
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/**
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* This class draws the direction of the source of the sound it hears.
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*
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* It gets its from a C++ program (see companion project 'sound-source-loc')
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*
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* @author Frederic Pesquet (fpesquet at gmail dot com)
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*/
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public class SoundSourceDraw extends JFrame {
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private static final long serialVersionUID = 1L;
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/** the panel that draw the last sound localization as an arc */
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private final SoundLocDraw _soundLocDraw;
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public SoundSourceDraw() throws Exception {
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super("Sound Source Localization");
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_soundLocDraw = new SoundLocDraw();
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getContentPane().add(_soundLocDraw, BorderLayout.CENTER);
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}
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/**
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* Main loop: launch C++ listener, get its output, draw, and loop
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* @throws IOException
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*/
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public void run() throws IOException {
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ProcessBuilder pb = new ProcessBuilder("/home/quentin/Documents/Projet_localisation/Documentation/Code/code_v1.0.5/sound-source-loc");
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pb = pb.redirectErrorStream(true);
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Process p = pb.start();
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InputStream is = p.getInputStream();
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InputStreamReader isr = new InputStreamReader(is);
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BufferedReader br = new BufferedReader(isr);
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String line;
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while (( line = br.readLine()) != null) {
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int sep=line.indexOf(';');
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float angle=Float.parseFloat(line.substring(0,sep));
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float relativePower=Float.parseFloat(line.substring(sep+1));
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//System.out.println("received sound loc: "+line);
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_soundLocDraw.setSound(angle,relativePower);
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}
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}
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/**
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* A simple panel that draws the sound source localization angle, with a
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* thickness depending on the sound level.
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*/
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@SuppressWarnings("serial")
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static private class SoundLocDraw extends JPanel {
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// sound angle, between -PI/2...+PI/2
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private float _angle;
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// relative power with respect to mean power (1.0=mean power)
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private float _relativePower;
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public void setSound(float angle, float relativePower) {
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_angle = angle;
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_relativePower = relativePower;
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repaint();
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}
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@Override
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protected void paintComponent(Graphics g) {
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super.paintComponent(g);
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Graphics2D g2d = (Graphics2D) g;
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Dimension d = getSize();
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int radius = Math.min(d.height, d.width / 2);
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int cx = d.width / 2;
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int cy = 0;
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int tx = cx + (int) (Math.cos(_angle + Math.PI / 2) * radius);
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int ty = cy + (int) (Math.sin(_angle + Math.PI / 2) * radius);
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g2d.drawOval(cx - radius, cy - radius, radius * 2, radius * 2);
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// use larger strokes for louder sounds:
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g2d.setStroke(new BasicStroke(1 + (int) ((Math.max(_relativePower,
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1) - 1.0) * 10)));
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g2d.drawLine(cx, cy, tx, ty);
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}
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}
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/**
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* Entry point: create the frame, and start listening to sound until closed.
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*/
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public static void main(String[] args) throws Exception {
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SoundSourceDraw snd = new SoundSourceDraw();
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snd.setSize(800, 400);
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snd.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
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snd.setLocationRelativeTo(null);
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snd.setVisible(true);
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snd.run();
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}
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}
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