balkce / beamform Goto Github PK

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started roslaunch server http://ajay:38401/

SUMMARY
========

PARAMETERS
 * /beamform/angle_interf10: 181.0
 * /beamform/angle_interf11: 181.0
 * /beamform/angle_interf12: 181.0
 * /beamform/angle_interf13: 181.0
 * /beamform/angle_interf14: 181.0
 * /beamform/angle_interf15: 181.0
 * /beamform/angle_interf1: 90.0
 * /beamform/angle_interf2: 181.0
 * /beamform/angle_interf3: 181.0
 * /beamform/angle_interf4: 181.0
 * /beamform/angle_interf5: 181.0
 * /beamform/angle_interf6: 181.0
 * /beamform/angle_interf7: 181.0
 * /beamform/angle_interf8: 181.0
 * /beamform/angle_interf9: 181.0
 * /beamform/auto_connect: True
 * /beamform/initial_angle: 0.0
 * /beamform/mic0/id: 0
 * /beamform/mic0/x: 0.0
 * /beamform/mic0/y: 0.0
 * /beamform/mic0/z: 0.0
 * /beamform/mic1/id: 1
 * /beamform/mic1/x: -0.0225
 * /beamform/mic1/y: 0.03897
 * /beamform/mic1/z: 0.0
 * /beamform/mic2/id: 2
 * /beamform/mic2/x: -0.045
 * /beamform/mic2/y: 0.0
 * /beamform/mic2/z: 0.0
 * /beamform/mic3/id: 3
 * /beamform/mic3/x: -0.0225
 * /beamform/mic3/y: -0.03897
 * /beamform/mic3/z: 0.0
 * /beamform/mic4/id: 4
 * /beamform/mic4/x: 0.0225
 * /beamform/mic4/y: -0.03897
 * /beamform/mic4/z: 0.0
 * /beamform/mic5/id: 5
 * /beamform/mic5/x: 0.045
 * /beamform/mic5/y: 0.0
 * /beamform/mic5/z: 0.0
 * /beamform/mic6/id: 6
 * /beamform/mic6/x: 0.0225
 * /beamform/mic6/y: 0.03897
 * /beamform/mic6/z: 0.0
 * /beamform/output_type: 0
 * /beamform/ros_output_sample_rate: 48000
 * /beamform/verbose: True
 * /beamform/write_file: True
 * /beamform/write_file_path: 
 * /beamform/write_xrun: False
 * /rosdistro: melodic
 * /rosversion: 1.14.3

NODES
  /
    beamform (beamform/das)

auto-starting new master
process[master]: started with pid [5754]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1332ee66-4f2f-11ea-990f-708bcda03968
process[rosout-1]: started with pid [5765]
started core service [/rosout]
process[beamform-2]: started with pid [5772]
ROS Node name: /beamform
Beamform ROS parameters: 
[ INFO] [1581687419.939918129]: Verbose: 1
[ INFO] [1581687419.940771589]: Initial angle: 0.000000
[ INFO] [1581687419.941067242]: Mic 0: (0.000000,0.000000) (0.000000,0.000000)
[ INFO] [1581687419.941415528]: Mic 1: (-0.022500,0.038970) (0.044999,120.000728)
[ INFO] [1581687419.941708336]: Mic 2: (-0.045000,0.000000) (0.045000,180.000000)
[ INFO] [1581687419.942016271]: Mic 3: (-0.022500,-0.038970) (0.044999,-120.000728)
[ INFO] [1581687419.942293886]: Mic 4: (0.022500,-0.038970) (0.044999,-59.999272)
[ INFO] [1581687419.942667764]: Mic 5: (0.045000,0.000000) (0.045000,0.000000)
[ INFO] [1581687419.942910259]: Mic 6: (0.022500,0.038970) (0.044999,59.999272)
[ INFO] [1581687419.943291710]: Interference 1 at: 90.000000
[ INFO] [1581687419.943517512]: Number of microphones: 7
Coordinates of microphones, relative to Mic0: 
Mic #0
	 x: 0
	 y: 0
	 d: 0
	 a: 0
Mic #1
	 x: -0.0225
	 y: 0.03897
	 d: 0.044999
	 a: 120.001
Mic #2
	 x: -0.045
	 y: 0
	 d: 0.045
	 a: 180
Mic #3
	 x: -0.0225
	 y: -0.03897
	 d: 0.044999
	 a: -120.001
Mic #4
	 x: 0.0225
	 y: -0.03897
	 d: 0.044999
	 a: -59.9993
Mic #5
	 x: 0.045
	 y: 0
	 d: 0.045
	 a: 0
Mic #6
	 x: 0.0225
	 y: 0.03897
	 d: 0.044999
	 a: 59.9993

JACK ROS parameters: /beamform
[ INFO] [1581687419.945915432]: Output type: ROSJACK_OUT_BOTH
[ INFO] [1581687419.946164005]: Auto connect: 1
[ INFO] [1581687419.946401290]: Write output to audio file: 1
[ WARN] [1581687419.946630759]: Audio file path argument found in ROS param server is empty, using default value (/home/ajay/rosjack_write_file.wav).
[ INFO] [1581687419.946855756]: Write XRUN count to file: 0
[ INFO] [1581687419.947067210]: ROS Output Sample Rate: 48000
Connecting to Jack Server...
JACK window size: 1024
JACK sample rate: 48000
ROS Output Sample Rate and JACK sample rate are the same. Not creating sample rate converter.
Writing ROS output in: /home/ajay/rosjack_write_file.wav
Audio file info:
	Sample Rate: 48000
	Channels: 1
	Format: WAV, PCM 16-bit
Agent activated.
jack_connect called with a NULL port name
Connecting input ports... Cannot connect input port beamform:input_3.
[ WARN] [1581687419.983749097]: Not connecting any more input ports, sticking with the ones that were connected.

done.
Pre-allocating space for internal buffers.
Overlap Info:
	 Start index of first window: 2560
	 Start index of last window : 512
New delays:
	 0 -> 0.000000
	 1 -> 0.000066
	 2 -> 0.000131
	 3 -> 0.000066
	 4 -> -0.000066
	 5 -> -0.000131
	 6 -> -0.000066
[ INFO] [1581687420.234596693]: Beamform ROS node started.

 0 [PCH            ]: HDA-Intel - HDA Intel PCH
                      HDA Intel PCH at 0xf7230000 irq 37
 1 [NVidia         ]: HDA-Intel - HDA NVidia
                      HDA NVidia at 0xf7080000 irq 17
 2 [UAC20          ]: USB-Audio - XMOS Microphone Array UAC2.0
                      XMOS XMOS Microphone Array UAC2.0 at usb-0000:00:14.0-5, full speed

**** List of CAPTURE Hardware Devices ****
card 0: PCH [HDA Intel PCH], device 0: ALC1150 Analog [ALC1150 Analog]
  Subdevices: 1/1
  Subdevice #0: subdevice #0
card 0: PCH [HDA Intel PCH], device 2: ALC1150 Alt Analog [ALC1150 Alt Analog]
  Subdevices: 1/1
  Subdevice #0: subdevice #0
card 2: UAC20 [XMOS Microphone Array UAC2.0], device 0: USB Audio [USB Audio]
  Subdevices: 1/1
  Subdevice #0: subdevice #0