apollo::audio::DirectionDetection类 参考

#include <direction_detection.h>

apollo::audio::DirectionDetection 的协作图:

Public 成员函数
	DirectionDetection ()
	~DirectionDetection ()
std::pair< Point3D, double >	EstimateSoundSource (std::vector< std::vector< double > > &&channels_vec, const std::string &respeaker_extrinsic_file, const int sample_rate, const double mic_distance)

详细描述

在文件 direction_detection.h 第 44 行定义.

构造及析构函数说明

DirectionDetection()

apollo::audio::DirectionDetection::DirectionDetection

(

)

在文件 direction_detection.cc 第 36 行定义.

{}

~DirectionDetection()

apollo::audio::DirectionDetection::~DirectionDetection

(

)

在文件 direction_detection.cc 第 38 行定义.

{}

成员函数说明

EstimateSoundSource()

std::pair< Point3D, double > apollo::audio::DirectionDetection::EstimateSoundSource	(	std::vector< std::vector< double > > &&	channels_vec,
		const std::string &	respeaker_extrinsic_file,
		const int	sample_rate,
		const double	mic_distance
	)

在文件 direction_detection.cc 第 40 行定义.

                               {
  if (!respeaker2imu_ptr_.get()) {
    respeaker2imu_ptr_.reset(new Eigen::Matrix4d);
    LoadExtrinsics(respeaker_extrinsic_file, respeaker2imu_ptr_.get());
  }
  double degree =
      EstimateDirection(move(channels_vec), sample_rate, mic_distance);
  Eigen::Vector4d source_position(kDistance * sin(degree),
                                  kDistance * cos(degree), 0, 1);
  source_position = (*respeaker2imu_ptr_) * source_position;
 
  Point3D source_position_p3d;
  source_position_p3d.set_x(source_position[0]);
  source_position_p3d.set_y(source_position[1]);
  source_position_p3d.set_z(source_position[2]);
  degree = NormalizeAngle(degree);
  return {source_position_p3d, degree};
}

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该类的文档由以下文件生成:

• modules/audio/inference/direction_detection.h
• modules/audio/inference/direction_detection.cc