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Sound

Tools

Audacity

A tool for working with audio files

Pyroomacoustics

A software package aimed at the rapid development and testing of audio array processing algorithms. Can be used to simulate the behavior of sound in space.

Sound in Logfiles

Logfies recorded by the robots during the game can be found here: * https://logs.naoth.de/

Code

Audio data is recorded in the Logfiles in blocks. The format of the block can be found in the message AudioData.proto and the corresponding representation in AudioData.h.

The recording is controlled with the representation AudioControl in AudioControl.h:

We use pulse-audio to interact with the sound system of the robot. The corresponding interface is implemented in the AudioRecorder:

The AudioRecorder can be tested independently with the following test platform

The current modules for whistle detection can be found here:

Recording with PulseAudio

Recording RAW audio data

    parecord -r --raw --format=s16le --rate=8000 --channel-map=rear-left,rear-right,front-left,front-right --channels=4 > test.raw

References