官方教程网址
http://wiki.seeedstudio.com/ReSpeaker_6-Mic_Circular_Array_kit_for_Raspberry_Pi/
本人在配置中遇到的问题
1.旧系统安装时出现raspi- kernel源获取失败，.deb文件不是完整的debian格式
百度的结果是由于更改国内镜像导致缺失数据源，找到合适数据源或者更改现有数据源为https格式可以解决，本人没找到，直接升级新系统（doge
2.树莓派系统烧录失败
烧录新系统时候使用的是etcherhttps://www.balena.io/etcher/?ref=etcher_footer
系统是官方最新系统https://www.raspberrypi.org/downloads/raspbian/
烧录出来的结果一直显示失败，插入树莓派也无法打开，多次试验后最终解决办法为：电脑读出TF卡以后打开磁盘管理，删除TF卡的所有分卷，新建NTFS格式简单卷，重新插入按照NTFS格式化，完成以后进行烧录，烧录结果显示失败也能够正常开机。
3.连接至Alexa SDK成功，但是无法语音互动。
修改 /boot/config.txt，在末尾添加上：dtparam=audio=on（开机时自动启动音频类模块）重新启动；
如果运行时出现 ALSA lib pcm.c:2239:(snd_pcm_open_noupdate) Unknown PCM cards.pcm.
sudo apt-get --no-install-recommends install jackd2
jackd -d alsa
保持此窗口打开，开启新窗口输入后续命令
参照https://blog.csdn.net/qq_27011361/article/details/83303439
4.安装snowboy后无法正常开启pulseaudio
在pulseaudio --start失败以后
执行
pulseaudio --kill
jack_control start
在执行jack_control start时可能会提示报错，忽略掉，继续执行
jack_control exit
pulseaudio --start
即可
参照https://blog.csdn.net/qq_34638161/article/details/80384261
后续安装ODAS STDIO的情况：
在电脑段首先安装nodejs v12以上版本，而后安装，根据文章说明进行前期配置，在树莓派上安装ODA库，首先打开ODA STDIO，根据readme里面配置好core文件和config文件，树莓派上同样配置好，转到/odas/bin ，执行
sudo ./odaslive -c ./respeaker-6mic-odas.cfg
其中-c后面是树莓派上配置文件保存地址，本人为了方便放在同一文件夹。
配置内容如下
树莓派
# Configuration file for ReSpeaker 6 Mic Array
# Circular shape, R = 0.0463m
version = "2.1";
# Raw
raw:
{
fS = 16000;
hopSize = 128;
nBits = 32;
nChannels = 8;
# Input with raw signal from microphones
interface: {
type = "soundcard";
card = 1;
device = 0;
}
}
# Mapping
mapping:
{
map: (1, 2, 3, 4, 5, 6);
}
# General
general:
{
epsilon = 1E-20;
size:
{
hopSize = 128;
frameSize = 256;
};
samplerate:
{
mu = 16000;
sigma2 = 0.01;
};
speedofsound:
{
mu = 343.0;
sigma2 = 25.0;
};
mics = (
# Microphone 1
{
mu = ( -0.0232, +0.0401, +0.0000 );
sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
direction = ( +0.000, +0.000, +1.000 );
angle = ( 80.0, 90.0 );
},
# Microphone 6
{
mu = ( +0.0232, +0.0401, +0.0000 );
sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
direction = ( +0.000, +0.000, +1.000 );
angle = ( 80.0, 90.0 );
},
# Microphone 5
{
mu = ( +0.0463, +0.0000, +0.0000 );
sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
direction = ( +0.000, +0.000, +1.000 );
angle = ( 80.0, 90.0 );
},
# Microphone 4
{
mu = ( +0.0232, -0.0401, +0.0000 );
sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
direction = ( +0.000, +0.000, +1.000 );
angle = ( 80.0, 90.0 );
},
# Microphone 3
{
mu = ( -0.0232, -0.0401, +0.0000 );
sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
direction = ( +0.000, +0.000, +1.000 );
angle = ( 80.0, 90.0 );
},
# Microphone 2
{
mu = ( -0.0463, +0.0000, +0.0000 );
sigma2 = ( +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000, +0.000 );
direction = ( +0.000, +0.000, +1.000 );
angle = ( 80.0, 90.0 );
}
);
# Spatial filters to include only a range of direction if required
# (may be useful to remove false detections from the floor, or
# limit the space search to a restricted region)
spatialfilters = (
{
direction = ( +0.000, +0.000, +1.000 );
angle = (80.0, 90.0);
}
);
nThetas = 181;
gainMin = 0.25;
}
# Stationnary noise estimation
sne:
{
b = 3;
alphaS = 0.1;
L = 150;
delta = 3.0;
alphaD = 0.1;
}
# Sound Source Localization
ssl:
{
nPots = 4;
nMatches = 10;
probMin = 0.5;
nRefinedLevels = 1;
interpRate = 4;
# Number of scans: level is the resolution of the sphere
# and delta is the size of the maximum sliding window
# (delta = -1 means the size is automatically computed)
scans = (
{ level = 2; delta = -1; },
{ level = 4; delta = -1; }
);
# Output to export potential sources
potential: {
format = "json";
interface: {
type = "socket"; ip = "192.168.1.111"; port = 9001;
};
#format = "undefined";
#interface: {
# type = "blackhole";
#}
};
}
# Sound Source Tracking
sst:
{
# Mode is either "kalman" or "particle"
mode = "kalman";
# Add is either "static" or "dynamic"
add = "dynamic";
# Parameters used by both the Kalman and particle filter
active = (
{ weight = 1.0; mu = 0.3; sigma2 = 0.0025 }
);
inactive = (
{ weight = 1.0; mu = 0.15; sigma2 = 0.0025 }
);
sigmaR2_prob = 0.0025;
sigmaR2_active = 0.0225;
sigmaR2_target = 0.0025;
Pfalse = 0.1;
Pnew = 0.1;
Ptrack = 0.8;
theta_new = 0.9;
N_prob = 5;
theta_prob = 0.8;
N_inactive = ( 150, 200, 250, 250 );
theta_inactive = 0.9;
# Parameters used by the Kalman filter only
kalman: {
sigmaQ = 0.001;
};
# Parameters used by the particle filter only
particle: {
nParticles = 1000;
st_alpha = 2.0;
st_beta = 0.04;
st_ratio = 0.5;
ve_alpha = 0.05;
ve_beta = 0.2;
ve_ratio = 0.3;
ac_alpha = 0.5;
ac_beta = 0.2;
ac_ratio = 0.2;
Nmin = 0.7;
};
target: ();
# Output to export tracked sources
tracked: {
format = "json";
interface: {
type = "socket"; ip = "192.168.1.111"; port = 9000;
};
#format = "undefined";
#interface: {
# type = "blackhole";
#}
};
}
sss:
{
# Mode is either "dds", "dgss" or "dmvdr"
mode_sep = "dds";
mode_pf = "ms";
gain_sep = 1.0;
gain_pf = 10.0;
dds: {
};
dgss: {
mu = 0.01;
lambda = 0.5;
};
dmvdr: {
};
ms: {
alphaPmin = 0.07;
eta = 0.5;
alphaZ = 0.8;
thetaWin = 0.3;
alphaWin = 0.3;
maxAbsenceProb = 0.9;
Gmin = 0.01;
winSizeLocal = 3;
winSizeGlobal = 23;
winSizeFrame = 256;
};
ss: {
Gmin = 0.01;
Gmid = 0.9;
Gslope = 10.0;
};
separated: {
fS = 44100;
hopSize = 512;
nBits = 16;
interface: {
type = "file";
path = "separated.raw";
};
};
postfiltered: {
fS = 44100;
hopSize = 512;
nBits = 16;
interface: {
type = "file";
path = "postfiltered.raw";
};
};
}
classify:
{
frameSize = 1024;
winSize = 3;
tauMin = 32;
tauMax = 200;
deltaTauMax = 7;
alpha = 0.3;
gamma = 0.05;
phiMin = 0.15;
r0 = 0.2;
category: {
format = "undefined";
interface: {
type = "blackhole";
}
}
}
PC端与其相同，只是IP地址修改为树莓派地址