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>
24 lines
716 B
Python
24 lines
716 B
Python
from setuptools import setup, find_packages
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setup(
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name='saltybot_audio_direction',
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version='0.1.0',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/saltybot_audio_direction']),
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('share/saltybot_audio_direction', ['package.xml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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author='SaltyLab',
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author_email='robot@saltylab.local',
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description='Audio direction estimator for sound source localization',
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license='MIT',
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entry_points={
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'console_scripts': [
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'audio_direction_node=saltybot_audio_direction.audio_direction_node:main',
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],
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},
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)
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