drivers-microphone
Introduction
This package is responsible for receiving the native audio input and parsing it to send it to the audio package for subsequent processing.
Directory Structure
modules/drivers/microphone/
├── BUILD
├── conf
├── cyberfile.xml
├── dag
├── drivers-microphone.BUILD
├── launch
├── microphone_component.cc
├── microphone_component.h
├── proto
├── README.md
├── respeaker.cc
└── respeaker.h
Modules
MicrophoneComponent
apollo::drivers::microphone::MicrophoneComponent
Input
| Name | Type | Description |
| stream | - | - |
Output
| Name | Type | Description |
msg | apollo::drivers::microphone::config::AudioDate | Raw microphone data |
configs
Microphone Configuration
- microphone_model: currently only support
RESPEAKER.
- chunk: number of frames per buffer from hardware to memory each time.
- record_seconds: number of seconds each time.
- channel_type
- May be ASR (Audio Speech Recognition), RAW (Raw Audio Data) or Playback.
- sample_rate
- Number of frames that are recorded per second.
- sample_width
- Number of bytes per sample (1, 2, 3, or 4).
For example, if there are 6 channels with 16000 Hz rate and 2 bytes width, then 4 second recording is
- Number of frames: 16000
- Number of "samples": 16000 * 6
- I use the term "samples" here just to make it easy for understanding, which is seldom used in this context.
- Total size: 6 × 16,000 x 4 × 2 = 768,000 bytes.
You might see other metrics elsewhere as follows:
- BIT DEPTH same to sample_width except that the unit is bit.
- BIT RATE number of bits encoded per second (kbps or k) – for compressed format like mp3.
How to Launch
cyber_launch start modules/drivers/microphone/launch/microphone.launch
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