最近又弄了个麦阵列玩定位……

1 安装ReSpeaker驱动#

参考：ReSpeaker 6-Mic Circular Array kit for Raspberry Pi

手册上说换个源会快，那就换吧：

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sudo vim /etc/apt/sources.list

手册上让用清华的镜像站：

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deb http://mirrors.tuna.tsinghua.edu.cn/raspbian/raspbian/ buster main non-free contrib
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deb-src http://mirrors.tuna.tsinghua.edu.cn/raspbian/raspbian/ buster main non-free contrib

安装麦阵列驱动：

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mkdir seeed
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proxychains4 git clone https://github.com/respeaker/seeed-voicecard.git
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cd seeed-voicecard
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sudo proxychains4 ./install.sh
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sudo reboot -h now

需要注意的是，在安装前不要运行sudo rpi-update升级固件，否则会因为固件版本问题导致无法安装。

2 录音及播放测试#

查看声卡输入设备arecord -L，返回：

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null
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    Discard all samples (playback) or generate zero samples (capture)
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default
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ac108
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dmixer
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ac101
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sysdefault:CARD=seeed8micvoicec
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    seeed-8mic-voicecard,
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    Default Audio Device
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dmix:CARD=seeed8micvoicec,DEV=0
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    seeed-8mic-voicecard,
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    Direct sample mixing device
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dsnoop:CARD=seeed8micvoicec,DEV=0
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    seeed-8mic-voicecard,
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    Direct sample snooping device
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hw:CARD=seeed8micvoicec,DEV=0
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    seeed-8mic-voicecard,
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    Direct hardware device without any conversions
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plughw:CARD=seeed8micvoicec,DEV=0
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    seeed-8mic-voicecard,
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    Hardware device with all software conversions

检查声卡输出设备aplay -L，返回：

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null
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    Discard all samples (playback) or generate zero samples (capture)
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default
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ac108
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dmixer
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ac101
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sysdefault:CARD=ALSA
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    bcm2835 ALSA, bcm2835 ALSA
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    Default Audio Device
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dmix:CARD=ALSA,DEV=0
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    bcm2835 ALSA, bcm2835 ALSA
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    Direct sample mixing device
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dmix:CARD=ALSA,DEV=1
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    bcm2835 ALSA, bcm2835 IEC958/HDMI
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    Direct sample mixing device
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dsnoop:CARD=ALSA,DEV=0
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    bcm2835 ALSA, bcm2835 ALSA
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    Direct sample snooping device
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dsnoop:CARD=ALSA,DEV=1
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    bcm2835 ALSA, bcm2835 IEC958/HDMI
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    Direct sample snooping device
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hw:CARD=ALSA,DEV=0
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    bcm2835 ALSA, bcm2835 ALSA
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    Direct hardware device without any conversions
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hw:CARD=ALSA,DEV=1
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    bcm2835 ALSA, bcm2835 IEC958/HDMI
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    Direct hardware device without any conversions
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plughw:CARD=ALSA,DEV=0
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    bcm2835 ALSA, bcm2835 ALSA
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    Hardware device with all software conversions
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plughw:CARD=ALSA,DEV=1
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    bcm2835 ALSA, bcm2835 IEC958/HDMI
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    Hardware device with all software conversions
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sysdefault:CARD=seeed8micvoicec
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    seeed-8mic-voicecard,
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    Default Audio Device
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dmix:CARD=seeed8micvoicec,DEV=0
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    seeed-8mic-voicecard,
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    Direct sample mixing device
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dsnoop:CARD=seeed8micvoicec,DEV=0
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    seeed-8mic-voicecard,
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    Direct sample snooping device
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hw:CARD=seeed8micvoicec,DEV=0
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    seeed-8mic-voicecard,
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    Direct hardware device without any conversions
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plughw:CARD=seeed8micvoicec,DEV=0
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    seeed-8mic-voicecard,
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    Hardware device with all software conversions

按照手册录制、播放音频文件，一切OK，还能边录边播~

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#It will capture sound on AC108 and save as a.wav
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arecord -Dac108 -f S32_LE -r 16000 -c 8 a.wav
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#Take care of that the captured mic audio is on the first 6 channels
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#It will play sound file a.wav on AC101
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aplay -D ac101 a.wav
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#Do not use -D plughw:1,0 directly except your wave file is single channel only.
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#Doing capture && playback the same time
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arecord -D hw:1,0 -f S32_LE -r 16000 -c 8 to_be_record.wav &
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#mono_to_play.wav is a mono channel wave file to play
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aplay -D plughw:1,0 -r 16000 to_be_record.wav

按照手册安装audacity，图形界面音频编辑软件，可以说是非常舒适了~

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sudo apt-get install -y audacity

3 DOA定位测试#

参考：ReSpeaker 6 Mic Array for Raspberry Pi

下载ODAS源码并编译：

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sudo proxychains4 apt install -y libfftw3-dev libconfig-dev libasound2-dev cmake
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proxychains4 git clone https://github.com/introlab/odas.git
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mkdir odas/build
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cd odas/build
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cmake ..
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make

安装完成后，编写麦阵列配置文件respeaker-6mic-odas.cfg：

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# Configuration file for ReSpeaker 6 Mic Array
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# Circular shape, R = 0.0463m
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version = "2.1";
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# Raw
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raw:
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{
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    fS = 16000;
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    hopSize = 128;
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    nBits = 32;
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    nChannels = 8;
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    # Input with raw signal from microphones
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    interface: {
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        type = "soundcard";
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        card = 1;
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        device = 0;
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    }
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}
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# Mapping
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mapping:
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{
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    map: (1, 2, 3, 4, 5, 6);
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}
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# General
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general:
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{
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    epsilon = 1E-20;
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    size:
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    {
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        hopSize = 128;
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        frameSize = 256;
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    };
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    samplerate:
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    {
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        mu = 16000;
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        sigma2 = 0.01;
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    };
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    speedofsound:
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    {
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        mu = 343.0;
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        sigma2 = 25.0;
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    };
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    mics = (
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        # Microphone 1
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        {
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            mu = ( -0.0232, +0.0401, +0.0000 );
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            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
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            direction = ( +0.000, +0.000, +1.000 );
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            angle = ( 80.0, 90.0 );
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        },
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        # Microphone 6
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        {
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            mu = ( +0.0232, +0.0401, +0.0000 );
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            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
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            direction = ( +0.000, +0.000, +1.000 );
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            angle = ( 80.0, 90.0 );
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        },
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        # Microphone 5
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        {
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            mu = ( +0.0463, +0.0000, +0.0000 );
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            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
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            direction = ( +0.000, +0.000, +1.000 );
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            angle = ( 80.0, 90.0 );
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        },
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        # Microphone 4
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        {
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            mu = ( +0.0232, -0.0401, +0.0000 );
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            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
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            direction = ( +0.000, +0.000, +1.000 );
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            angle = ( 80.0, 90.0 );
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        },
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        # Microphone 3
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        {
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            mu = ( -0.0232, -0.0401, +0.0000 );
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            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
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            direction = ( +0.000, +0.000, +1.000 );
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            angle = ( 80.0, 90.0 );
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        },
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        # Microphone 2
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        {
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            mu = ( -0.0463, +0.0000, +0.0000 );
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            sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
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            direction = ( +0.000, +0.000, +1.000 );
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            angle = ( 80.0, 90.0 );
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        }
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    );
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    # Spatial filters to include only a range of direction if required
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    # (may be useful to remove false detections from the floor, or
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    # limit the space search to a restricted region)
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    spatialfilters = (
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        {
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            direction = ( +0.000, +0.000, +1.000 );
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            angle = (80.0, 90.0);
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        }
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    );
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    nThetas = 181;
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    gainMin = 0.25;
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}
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# Stationnary noise estimation
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sne:
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{
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    b = 3;
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    alphaS = 0.1;
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    L = 150;
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    delta = 3.0;
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    alphaD = 0.1;
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}
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# Sound Source Localization
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ssl:
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{
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    nPots = 4;
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    nMatches = 10;
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    probMin = 0.5;
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    nRefinedLevels = 1;
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    interpRate = 4;
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    # Number of scans: level is the resolution of the sphere
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    # and delta is the size of the maximum sliding window
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    # (delta = -1 means the size is automatically computed)
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    scans = (
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        { level = 2; delta = -1; },
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        { level = 4; delta = -1; }
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    );
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    # Output to export potential sources
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    potential: {
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        format = "json";
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        interface: {
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            type = "socket"; ip = "192.168.1.100"; port = 9001;
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        };
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        #format = "undefined";
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        #interface: {
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        #    type = "blackhole";
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        #}
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    };
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}
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# Sound Source Tracking
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sst:
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{
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    # Mode is either "kalman" or "particle"
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    mode = "kalman";
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    # Add is either "static" or "dynamic"
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    add = "dynamic";
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    # Parameters used by both the Kalman and particle filter
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    active = (
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        { weight = 1.0; mu = 0.3; sigma2 = 0.0025 }
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    );
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    inactive = (
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        { weight = 1.0; mu = 0.15; sigma2 = 0.0025 }
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    );
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    sigmaR2_prob = 0.0025;
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    sigmaR2_active = 0.0225;
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    sigmaR2_target = 0.0025;
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    Pfalse = 0.1;
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    Pnew = 0.1;
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    Ptrack = 0.8;
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    theta_new = 0.9;
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    N_prob = 5;
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    theta_prob = 0.8;
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    N_inactive = ( 150, 200, 250, 250 );
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    theta_inactive = 0.9;
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    # Parameters used by the Kalman filter only
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    kalman: {
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        sigmaQ = 0.001;
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    };
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    # Parameters used by the particle filter only
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    particle: {
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        nParticles = 1000;
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        st_alpha = 2.0;
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        st_beta = 0.04;
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        st_ratio = 0.5;
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        ve_alpha = 0.05;
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        ve_beta = 0.2;
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        ve_ratio = 0.3;
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        ac_alpha = 0.5;
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        ac_beta = 0.2;
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        ac_ratio = 0.2;
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        Nmin = 0.7;
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    };
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    target: ();
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    # Output to export tracked sources
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    tracked: {
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        format = "json";
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        interface: {
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            type = "socket"; ip = "192.168.1.100"; port = 9000;
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        };
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        #format = "undefined";
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        #interface: {
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        #    type = "blackhole";
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        #}
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    };
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}
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sss:
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{
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    # Mode is either "dds", "dgss" or "dmvdr"
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    mode_sep = "dds";
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    mode_pf = "ms";
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    gain_sep = 1.0;
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    gain_pf = 10.0;
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    dds: {
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    };
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    dgss: {
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        mu = 0.01;
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        lambda = 0.5;
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    };
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    dmvdr: {
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    };
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    ms: {
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        alphaPmin = 0.07;
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        eta = 0.5;
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        alphaZ = 0.8;
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        thetaWin = 0.3;
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        alphaWin = 0.3;
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        maxAbsenceProb = 0.9;
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        Gmin = 0.01;
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        winSizeLocal = 3;
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        winSizeGlobal = 23;
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        winSizeFrame = 256;
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    };
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    ss: {
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        Gmin = 0.01;
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        Gmid = 0.9;
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        Gslope = 10.0;
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    };
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    separated: {
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        fS = 44100;
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        hopSize = 512;
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        nBits = 16;
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        interface: {
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            type = "file";
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            path = "separated.raw";
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        };
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    };
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    postfiltered: {
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        fS = 44100;
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        hopSize = 512;
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        nBits = 16;
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        interface: {
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            type = "file";
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            path = "postfiltered.raw";
271
        };
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    };
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}
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classify:
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{
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    frameSize = 1024;
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    winSize = 3;
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    tauMin = 32;
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    tauMax = 200;
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    deltaTauMax = 7;
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    alpha = 0.3;
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    gamma = 0.05;
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    phiMin = 0.15;
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    r0 = 0.2;
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    category: {
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        format = "undefined";
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        interface: {
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            type = "blackhole";
292
        }
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    }
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}

波达方向定位服务odaslives位于odas/bin/目录下，使用配置文件启动定位服务：

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ln -s ~/odas/3rd-lib/odas/bin/odaslive ~/.local/bin/odaslive
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odaslive -c ~/respeaker-6mic-odas.cfg

在电脑上下载ODAS Studio源码并编译：

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sudo npm install npm@latest -g
2
wget https://github.com/introlab/odas_web/archive/v0.2-alpha.zip
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unzip -a v0.2-alpha.zip
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git clone https://github.com/introlab/odas_web.git
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cd odas_web-0.2-alpha
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npm install

在电脑上安装npm，并从源码编译odas web v0.2-alpha：

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sudo npm install npm@latest -g
2
cd odas_web
3
npm install

或者使用已编译好的程序：

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proxychains4 wget https://github.com/introlab/odas_web/releases/download/v0.1-alpha/MacOS_x64.tar.gz

ODA Studio Test