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hark_sound_loc

Perform sound source localization using hark and ROS.

Installation

Hark installation instructions are quite nice and support Ubuntu 12.04 (ROS Hydro) and 14.04 (ROS Indigo).

Using ubuntu 14.04 in this repo, reproducing instructions:

Add APT repository:

     sudo bash -c 'echo -e "deb http://winnie.kuis.kyoto-u.ac.jp/HARK/harkrepos trusty non-free\ndeb-src http://winnie.kuis.kyoto-u.ac.jp/HARK/harkrepos trusty non-free" > /etc/apt/sources.list.d/hark.list'

Setup PGP key:

wget -q -O - http://winnie.kuis.kyoto-u.ac.jp/HARK/harkrepos/public.gpg | sudo apt-key add -

Update sources:

sudo apt-get update

Install HARK:

sudo apt-get install harkfd hark-designer julius-4.2.3-hark-plugin harktool4 harktool5

They also recommend installing:

sudo apt-get install librasp-netapi

Install ROS wrappers:

sudo apt-get install hark-ros-indigo hark-ros-stacks-indigo

To check the HARK-ROS installation, run HARK-designer in a new terminal:

hark_designer

(The first time you open it it may install node.js related stuff).

A browser will open, find HARK-ROS modules can be found at: Preferences > Packages > hark-ros.def

Sound localization

Based on the Learning sound localization tutorial.

Note that if you follow those instructions exactly you'll get:

./recog.n MultiSpeech.wav loc_tf.dat sep_tf.dat
...
[E] [zip_open failed:
    From HARK2.1 that uses libharkio3,
    the format of a transfer function has been changed.
    You can convert the transfer function using 'harktoolcli-conv-tf',
    which is a command line interface of harktool5.

Which is solved by transforming the files loc_tf.dat and sep_tf.dat into transfer.zip using:

harktoolcli-conv-tf -l loc_tf.dat -s sep_tf.dat -o transfer.zip

And then you'll need to execute it like:

./recog.n MultiSpeech.wav transfer.zip transfer.zip

I comment this here mainly for the next one to find the problem can Google for a solution.

How to generate your own transfer function files

Video tutorial of what this is about.

Video tutorial of using harktool4 to generate the files.

Then use harktoolcli-conv-tf as before.