soundloc_kmeans

Lightweight multiple sound source localization, based on a triangular microphone array.

Based on a combination of the original soundloc package and Luis Gato's kmeans-based improvement.

Uses JACK for input/audio audio server.

Outputs localizations through the JsonMsg topic, described by the json_msgs node.

Configured by soundloc_config.yaml:

• distance between microphones
• maximum number of sources
• graphical representation of localizations
• energy threshold to consider change of inactive and active states
• energy threshold to trigger activity
• coherence threshold (in degrees) between local microphone-pair estimations
• automatic connection to JACK inputs

Dependencies

Packages that can be installed trough apt official repositories:

• libjack-jackd2-dev: JACK development libraries
• libfftw3-dev: a very fast FFT C/C++ implementation
• libjsoncpp-dev: for constructing JSON structures