bin example

binaulocExample.m

+% Assuming that you already have a 'client' handle, and that the 'binauloc'
+% component is running on the turtlebot, load this component.
+binauloc = client.load('binauloc')
+
+% Connect the input port of binauloc to the output port of bass, so that
+% binauloc receives the raw audio data from bass. Note that the data flow
+% goes from bass on the Raspberry Pi to binauloc on the turtlebot. The
+% audio data does not pass by Matlab here.
+binauloc.connect_port('Audio', 'bass/Audio')
+
+% Setup the parameters of the algorithm. To have a bit more information
+% about the role of each parameter, you can call binauloc.Setup('-h'). To
+% have further information, c.f. Portello et al. IROS 2013 & IROS 2014
+binauloc.Setup( ...
+    '/home/turtlebot/genom3/activeloc/data/setup', ... % just a file to write parameters in (please do not change)
+    24414, ... % the sample rate
+    5000, ... % the maximum frequency
+    1024, ... % the number of samples per frame (here a frame is a block of audio)
+    512, ... % the overlap between two frames
+    '::localization::HANNING', ... % the window function
+    10, ... % contributes to the smoothing of the pseudo-likelihood
+    '/home/turtlebot/genom3/activeloc/data/projector', ... % another file to write data in  (please do not change)
+    '/home/turtlebot/genom3/activeloc/data/noise') % yet another file to write data in  (please do not change)
+
+% Learn the noise characteristics. Make sure the environment is silent
+% before calling this service!
+binauloc.LearnNoise(2) % 2 seconds
+
+% Use the inter-aural transfer function to compute a projector on the space
+% spanned by the steering vector [1; inter-aural transfer function]
+binauloc.PretabProj('/home/turtlebot/genom3/activeloc/steerVecs/steerVecS72')
+
+% Start the localization (runs indefinitely, don't forget the '-a' option)
+rLocalizeSources = binauloc.LocalizeSources('-a', 1, 1, 4)
+
+% The azimuth detection is now running, you can retrieve the current
+% estimated azimuth in p = binauloc.Azimuths(). The value is in radians,
+% increasing towards right.
+
+% The localization can be stopped with binauloc.StopLocalization()
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