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feat: audio direction estimator (Issue #430) #434

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sl-jetson merged 1 commits from sl-perception/issue-430-audio-direction into main 2026-03-05 08:59:09 -05:00
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sl-perception commented 2026-03-05 08:53:50 -05:00
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Sound source localization for speaker tracking

Sound source localization for speaker tracking
sl-perception added 1 commit 2026-03-05 08:53:50 -05:00 
Implements GCC-PHAT beamforming for sound source localization via Jabra mic.
- GCC-PHAT cross-correlation for direction of arrival (DoA) estimation
- Voice activity detection (VAD) using RMS energy + smoothing
- Stereo/quadrophonic channel support (left/right/front/rear estimation)
- ROS2 publishers: /saltybot/audio_direction (Float32 bearing), /saltybot/audio_activity (Bool VAD)
- Configurable parameters: sample_rate, chunk_size, publish_hz, vad_threshold, gcc_phat_max_lag
- Integration-ready for multi-person tracker speaker tracking

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit df0329d4f1 into main 2026-03-05 08:59:09 -05:00
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Reference: seb/saltylab-firmware#434
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