| 23,6 → 23,8 |
|---|
| #define APERTURE 0.2 // distance between microphones |
| #define MAP_SIZE 100 |
| |
| #define RESOLUTION 1/100 // resolution in metres per map pixel |
| |
| static char *device = "plughw:0,0"; /* playback device */ |
| static snd_pcm_format_t format = SND_PCM_FORMAT_S16; /* sample format */ |
| static unsigned int rate = 96000; /* stream rate */ |
| 207,6 → 209,7 |
|---|
| int *L_signal, *R_signal; |
| short *chirp, *signal; |
| float *chirp_spect, *lecho_spect, *recho_spect; |
| float x,y; |
| unsigned int i,j,m,n; |
| unsigned int delayl[10],delayr[10]; //store delay of signifed correlation |
| long int l,r; // store correlation at strict time |
| 366,7 → 369,13 |
|---|
| 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)]; |
| |
| for (j=0;j < MAP_SIZE; j++) |
| { |
| x=(float)i*RESOLUTION; y=(float)j*RESOLUTION; //transofm integger index of array to float with appproopirate resolution |
| |
| density_map[i][j]=(float)correlationl[(int)sqrt(x*x + y*y)]*correlationr[(int)sqrt(APERTURE*APERTURE - 2*APERTURE*x + x*x + y*y)]; |
| } |
| } |
| |
| |
| 406,10 → 415,11 |
|---|
| } |
| fclose(out); |
| |
| out=fopen("/tmp/plane_cut.txt","w"); |
| out=fopen("/tmp/plane_cut.txt","w"); // writes plane cut - e.g. density map to file |
| for (i=0;i < MAP_SIZE; i++) |
| { |
| for (j=0;j < MAP_SIZE; j++) fprintf(out,"%6f", density_map); |
| for (j=0;j < MAP_SIZE; j++) fprintf(out,"%3.2f ", density_map); |
| fprintf(out,"\n"); |
| } |
| |
| out=fopen("/tmp/chirp.txt","w"); |