Transférer les fichiers vers 'Code_Final_loc180deg'
Le fichier Localisation180.cpp est le programme C++ permettant la localisation du son pour ROS. Le fichier CMakeLists.txt est celui qui est nécessaire pour la compilation avec catkin_make. Pour les utiliser, se référer à la notice : https://gitcdr.univ-ubs.fr/ericsenn/localisation_audio/src/branch/master/Creation_package_v1.pdf
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Code_Final_loc180deg/CMakeLists.txt
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Code_Final_loc180deg/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
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project(localisation CXX)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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)
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find_package(PkgConfig)
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pkg_check_modules(ALSA alsa REQUIRED)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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||||
################################################
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||||
|
||||
## To declare and build messages, services or actions from within this
|
||||
## package, follow these steps:
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||||
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
||||
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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||||
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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||||
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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||||
## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
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||||
## * add "message_runtime" and every package in MSG_DEP_SET to
|
||||
## catkin_package(CATKIN_DEPENDS ...)
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||||
## * uncomment the add_*_files sections below as needed
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||||
## and list every .msg/.srv/.action file to be processed
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||||
## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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||||
# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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||||
|
||||
## Generate actions in the 'action' folder
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||||
# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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||||
## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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|
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## To declare and build dynamic reconfigure parameters within this
|
||||
## package, follow these steps:
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## * In the file package.xml:
|
||||
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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|
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
|
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## Declare things to be passed to dependent projects
|
||||
## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES localisation
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# CATKIN_DEPENDS roscpp
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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${ALSA_LIBRARIES}
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${ALSA_CFLAGS_OTHER}
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${ALSA_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/localisation.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
|
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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add_executable(${localisation}localisation src/Localisation180.cpp)
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target_link_libraries (localisation ${ALSA_LIBRARIES})
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target_compile_options(localisation PUBLIC ${ALSA_CFLAGS_OTHER})
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target_include_directories(localisation PUBLIC ${ALSA_INCLUDE_DIRS})
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target_link_libraries (localisation ${catkin_LIBRARIES})
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
|
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
|
||||
## same as for the library above
|
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
|
||||
# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
|
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## in contrast to setup.py, you can choose the destination
|
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# catkin_install_python(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
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# install(TARGETS ${PROJECT_NAME}_node
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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|
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## Mark libraries for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||
# install(TARGETS ${PROJECT_NAME}
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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||||
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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||||
# )
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## Mark cpp header files for installation
|
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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||||
|
||||
#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_localisation.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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270
Code_Final_loc180deg/Localisation180.cpp
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270
Code_Final_loc180deg/Localisation180.cpp
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#include <iostream>
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using namespace std;
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// #include <ros/ros.h>
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#include "/opt/ros/kinetic/include/ros/ros.h"
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#include <std_msgs/Float32.h>
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#include <geometry_msgs/Twist.h>
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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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#include <ros/publisher.h>
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//#include "/opt/ros/kinetic/share/std_msgs/msg/Float64.msg"
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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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//float lin[3]= [2.0,0.0,0.0] ;
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//float th[3]= [0.0,0.0,0.0] ;
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float th;
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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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||||
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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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||||
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||||
snd_pcm_hw_params_free(hw_params);
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||||
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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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||||
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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() {
|
||||
//while (true) {
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TraitementSonsSuivants();
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//}
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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);
|
||||
// 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:
|
||||
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++) {
|
||||
// calcule la somme des différences pour simuler une mesure de corrélation croisée:
|
||||
int diff = 0;
|
||||
for (int i = _nbEchantillonsDiffMax; i < _TailleTampon - _nbEchantillonsDiffMax - 1; i++) {
|
||||
diff += abs(_TamponGauche[i] - _TamponDroit[i + t]);
|
||||
}
|
||||
if (diff < minDiff) {
|
||||
minDiff = diff;
|
||||
minDiffTime = t;
|
||||
}
|
||||
}
|
||||
|
||||
// Si le son est assez fort et pas extrême (= ce qui entraine généralement de fausses
|
||||
// mesures), alors on le dessine:
|
||||
if ((NivRelatif > _NiveauSonMin) && (minDiffTime > -_nbEchantillonsDiffMax) && (minDiffTime < _nbEchantillonsDiffMax)) {
|
||||
// computation of angle depending on diff time, sampling rates,
|
||||
// and geometry
|
||||
float angle = -(float) asin((minDiffTime * _Vson) / (_TauxEchantillonnageSon* _DistanceMic));
|
||||
if (angle<2 && angle >-2){ //Empeche de renvoyer la valeur -nan lorsque le son est jugé trop faible.
|
||||
cout << angle << ";" << NivRelatif << endl;
|
||||
th = angle;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Calcule du niveau sonore moyen (la puissance) pour les canaux gauche et droit.
|
||||
*/
|
||||
SAMPLE_TYPE CalculNiv(SAMPLE_TYPE Droit[], SAMPLE_TYPE Gauche[]) {
|
||||
float Niveau = 0;
|
||||
for (int i = 0; i < _TailleTampon; i++) {
|
||||
float s = (Gauche[i] + Droit[i]) / 2;
|
||||
Niveau += (s * s);
|
||||
}
|
||||
Niveau /= _TailleTampon;
|
||||
Niveau = sqrt(Niveau);
|
||||
return (SAMPLE_TYPE) Niveau;
|
||||
}
|
||||
};
|
||||
|
||||
int main(int argc, char *argv[]) {
|
||||
ros::init(argc, argv, "localisation_v2");
|
||||
ros::NodeHandle nh;
|
||||
ros::Publisher cmd_velo = nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1000);
|
||||
geometry_msgs::Twist theta;
|
||||
|
||||
Localisation soundLoc;
|
||||
|
||||
while (ros::ok()){
|
||||
soundLoc.run();
|
||||
theta.angular.z = th;
|
||||
//theta.linear.x = 0.1;
|
||||
cmd_velo.publish(theta);
|
||||
}
|
||||
exit(0);
|
||||
}
|
||||
|
||||
Loading…
Reference in a new issue