| 20,6 → 20,8 |
|---|
| |
| #define SOUND_SPEED 340.0 // sound speed in air in metrs per second |
| #define MAX_RANGE 10.0 // maximal working radius in meters |
| #define APERTURE 0.2 // distance between microphones |
| #define MAP_SIZE 100 |
| |
| static char *device = "plughw:0,0"; /* playback device */ |
| static snd_pcm_format_t format = SND_PCM_FORMAT_S16; /* sample format */ |
| 211,6 → 213,8 |
|---|
| double df; //frequency resolution |
| unsigned int frequency_bins; // number of output frequency bins |
| |
| float density_map[MAP_SIZE][MAP_SIZE]; // Array to store two dimensional image of echos |
| |
| double *inchirp; |
| fftw_complex *outchirp; |
| fftw_plan fft_plan_chirp; |
| 359,6 → 363,13 |
|---|
| correlationr[n]=abs(r); |
| } |
| |
| printf("Building echo map\n"); // compute map from left and right correlation data |
| for (i=0;i < MAP_SIZE; i++) |
| { |
| for (j=0;j < MAP_SIZE; j++) density_map[i][j]=correlationl[(int)sqrt(i*i + j*j)]*correlationr[(int)sqrt(APERTURE*APERTURE - 2*APERTURE*i + i*i + j*j)]; |
| } |
| |
| |
| printf("Searching echos\n"); |
| r=0; |
| l=0; |
| 395,6 → 406,12 |
|---|
| } |
| fclose(out); |
| |
| out=fopen("/tmp/plane_cut.txt","w"); |
| for (i=0;i < MAP_SIZE; i++) |
| { |
| for (j=0;j < MAP_SIZE; j++) fprintf(out,"%6f", density_map); |
| } |
| |
| out=fopen("/tmp/chirp.txt","w"); |
| for (i=0; i <= (chirp_size - 1); i++) |
| { |
| 413,10 → 430,6 |
|---|
| } |
| fclose(out); |
| |
| printf("Echo zacina na: %d vzorku.\n", delayl[1]); |
| printf("Casove na: %f s\n", ((float)delayl[1]/rate)); |
| printf("vzdalenost: %f m\n", (SOUND_SPEED*(float)delayl[1]/rate)); |
| |
| free(correlationl); |
| free(correlationr); |
| free(L_signal); |