sl-perception
d7b1366d6c
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>
5 lines
80 B
INI
5 lines
80 B
INI
[develop]
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script_dir=$base/lib/saltybot_audio_direction
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[egg_info]
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tag_date = 0
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