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1 /* | 1 /* |
2 * Copyright (c) 2014 The WebRTC project authors. All Rights Reserved. | 2 * Copyright (c) 2014 The WebRTC project authors. All Rights Reserved. |
3 * | 3 * |
4 * Use of this source code is governed by a BSD-style license | 4 * Use of this source code is governed by a BSD-style license |
5 * that can be found in the LICENSE file in the root of the source | 5 * that can be found in the LICENSE file in the root of the source |
6 * tree. An additional intellectual property rights grant can be found | 6 * tree. An additional intellectual property rights grant can be found |
7 * in the file PATENTS. All contributing project authors may | 7 * in the file PATENTS. All contributing project authors may |
8 * be found in the AUTHORS file in the root of the source tree. | 8 * be found in the AUTHORS file in the root of the source tree. |
9 */ | 9 */ |
10 | 10 |
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29 | 29 |
30 const float kSpeedOfSoundMeterSeconds = 343; | 30 const float kSpeedOfSoundMeterSeconds = 343; |
31 | 31 |
32 // For both target and interference angles, PI / 2 is perpendicular to the | 32 // For both target and interference angles, PI / 2 is perpendicular to the |
33 // microphone array, facing forwards. The positive direction goes | 33 // microphone array, facing forwards. The positive direction goes |
34 // counterclockwise. | 34 // counterclockwise. |
35 // The angle at which we amplify sound. | 35 // The angle at which we amplify sound. |
36 // TODO(aluebs): Make the target angle dynamically settable. | 36 // TODO(aluebs): Make the target angle dynamically settable. |
37 const float kTargetAngleRadians = static_cast<float>(M_PI) / 2.f; | 37 const float kTargetAngleRadians = static_cast<float>(M_PI) / 2.f; |
38 | 38 |
| 39 // The minimum separation in radians between the target direction and an |
| 40 // interferer scenario. |
| 41 const float kMinAwayRadians = 0.2f; |
| 42 |
| 43 // The separation between the target direction and the closest interferer |
| 44 // scenario is proportional to this constant. |
| 45 const float kAwaySlope = 0.008f; |
| 46 |
39 // When calculating the interference covariance matrix, this is the weight for | 47 // When calculating the interference covariance matrix, this is the weight for |
40 // the weighted average between the uniform covariance matrix and the angled | 48 // the weighted average between the uniform covariance matrix and the angled |
41 // covariance matrix. | 49 // covariance matrix. |
42 // Rpsi = Rpsi_angled * kBalance + Rpsi_uniform * (1 - kBalance) | 50 // Rpsi = Rpsi_angled * kBalance + Rpsi_uniform * (1 - kBalance) |
43 const float kBalance = 0.95f; | 51 const float kBalance = 0.95f; |
44 | 52 |
45 const float kHalfBeamWidthRadians = static_cast<float>(M_PI) * 20.f / 180.f; | 53 const float kHalfBeamWidthRadians = static_cast<float>(M_PI) * 20.f / 180.f; |
46 | 54 |
47 // Alpha coefficients for mask smoothing. | 55 // Alpha coefficients for mask smoothing. |
48 const float kMaskTimeSmoothAlpha = 0.2f; | 56 const float kMaskTimeSmoothAlpha = 0.2f; |
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182 return array_geometry; | 190 return array_geometry; |
183 } | 191 } |
184 | 192 |
185 } // namespace | 193 } // namespace |
186 | 194 |
187 // static | 195 // static |
188 const size_t NonlinearBeamformer::kNumFreqBins; | 196 const size_t NonlinearBeamformer::kNumFreqBins; |
189 | 197 |
190 NonlinearBeamformer::NonlinearBeamformer( | 198 NonlinearBeamformer::NonlinearBeamformer( |
191 const std::vector<Point>& array_geometry) | 199 const std::vector<Point>& array_geometry) |
192 : num_input_channels_(array_geometry.size()), | 200 : num_input_channels_(array_geometry.size()), |
193 array_geometry_(GetCenteredArray(array_geometry)) { | 201 array_geometry_(GetCenteredArray(array_geometry)), |
| 202 min_mic_spacing_(GetMinimumSpacing(array_geometry)) { |
194 WindowGenerator::KaiserBesselDerived(kKbdAlpha, kFftSize, window_); | 203 WindowGenerator::KaiserBesselDerived(kKbdAlpha, kFftSize, window_); |
195 } | 204 } |
196 | 205 |
197 void NonlinearBeamformer::Initialize(int chunk_size_ms, int sample_rate_hz) { | 206 void NonlinearBeamformer::Initialize(int chunk_size_ms, int sample_rate_hz) { |
198 chunk_length_ = | 207 chunk_length_ = |
199 static_cast<size_t>(sample_rate_hz / (1000.f / chunk_size_ms)); | 208 static_cast<size_t>(sample_rate_hz / (1000.f / chunk_size_ms)); |
200 sample_rate_hz_ = sample_rate_hz; | 209 sample_rate_hz_ = sample_rate_hz; |
201 low_mean_start_bin_ = Round(kLowMeanStartHz * kFftSize / sample_rate_hz_); | 210 low_mean_start_bin_ = Round(kLowMeanStartHz * kFftSize / sample_rate_hz_); |
202 low_mean_end_bin_ = Round(kLowMeanEndHz * kFftSize / sample_rate_hz_); | 211 low_mean_end_bin_ = Round(kLowMeanEndHz * kFftSize / sample_rate_hz_); |
203 high_mean_start_bin_ = Round(kHighMeanStartHz * kFftSize / sample_rate_hz_); | 212 high_mean_start_bin_ = Round(kHighMeanStartHz * kFftSize / sample_rate_hz_); |
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246 for (size_t i = 0; i < kNumFreqBins; ++i) { | 255 for (size_t i = 0; i < kNumFreqBins; ++i) { |
247 rxiws_[i] = Norm(target_cov_mats_[i], delay_sum_masks_[i]); | 256 rxiws_[i] = Norm(target_cov_mats_[i], delay_sum_masks_[i]); |
248 rpsiws_[i].clear(); | 257 rpsiws_[i].clear(); |
249 for (size_t j = 0; j < interf_angles_radians_.size(); ++j) { | 258 for (size_t j = 0; j < interf_angles_radians_.size(); ++j) { |
250 rpsiws_[i].push_back(Norm(*interf_cov_mats_[i][j], delay_sum_masks_[i])); | 259 rpsiws_[i].push_back(Norm(*interf_cov_mats_[i][j], delay_sum_masks_[i])); |
251 } | 260 } |
252 } | 261 } |
253 } | 262 } |
254 | 263 |
255 void NonlinearBeamformer::InitInterfAngles() { | 264 void NonlinearBeamformer::InitInterfAngles() { |
256 // TODO(aluebs): Make kAwayRadians dependent on the mic spacing. | 265 const float kAwayRadians = |
257 const float kAwayRadians = 0.5; | 266 std::min(static_cast<float>(M_PI), |
| 267 std::max(kMinAwayRadians, kAwaySlope * static_cast<float>(M_PI) / |
| 268 min_mic_spacing_)); |
258 | 269 |
259 interf_angles_radians_.clear(); | 270 interf_angles_radians_.clear(); |
260 // TODO(aluebs): When the target angle is settable, make sure the interferer | 271 // TODO(aluebs): When the target angle is settable, make sure the interferer |
261 // scenarios aren't reflected over the target one for linear geometries. | 272 // scenarios aren't reflected over the target one for linear geometries. |
262 interf_angles_radians_.push_back(kTargetAngleRadians - kAwayRadians); | 273 interf_angles_radians_.push_back(kTargetAngleRadians - kAwayRadians); |
263 interf_angles_radians_.push_back(kTargetAngleRadians + kAwayRadians); | 274 interf_angles_radians_.push_back(kTargetAngleRadians + kAwayRadians); |
264 } | 275 } |
265 | 276 |
266 void NonlinearBeamformer::InitDelaySumMasks() { | 277 void NonlinearBeamformer::InitDelaySumMasks() { |
267 for (size_t f_ix = 0; f_ix < kNumFreqBins; ++f_ix) { | 278 for (size_t f_ix = 0; f_ix < kNumFreqBins; ++f_ix) { |
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514 new_mask_ + high_mean_end_bin_ + 1); | 525 new_mask_ + high_mean_end_bin_ + 1); |
515 if (new_mask_[quantile] > kMaskTargetThreshold) { | 526 if (new_mask_[quantile] > kMaskTargetThreshold) { |
516 is_target_present_ = true; | 527 is_target_present_ = true; |
517 interference_blocks_count_ = 0; | 528 interference_blocks_count_ = 0; |
518 } else { | 529 } else { |
519 is_target_present_ = interference_blocks_count_++ < hold_target_blocks_; | 530 is_target_present_ = interference_blocks_count_++ < hold_target_blocks_; |
520 } | 531 } |
521 } | 532 } |
522 | 533 |
523 } // namespace webrtc | 534 } // namespace webrtc |
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