Note
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Rotating point source¶
Demonstrates the use of acoular for a point source moving on a circle trajectory. Uses synthesized data.
Four different methods are compared:
fixed focus time domain beamforming
fixed focus frequency domain beamforming
moving focus time domain beamforming
moving focus time domain deconvolution
import acoular as ac
import numpy as np
First, we make some important definitions:
the frequency of interest (114 Hz),
1/3 octave band for later analysis,
the sampling frequency (3072 Hz),
the array radius (3.0),
the radius of the source trajectory (2.5),
the distance of the source trajectory from the array (4),
the revolutions per second (15/60),
the total number of revolutions (1.5).
freq = 6144.0 * 3 / 128.0
num = 3
sfreq = 6144.0 / 2
r = 3.0
R = 2.5
Z = 4
rps = 15.0 / 60.0
U = 1.5
Construct the trajectory for the source. The source moves on a circle trajectory in anti-clockwise direction.
tr = ac.Trajectory()
tr1 = ac.Trajectory()
tmax = U / rps
delta_t = 1.0 / rps / 16.0 # 16 steps per revolution
for t in np.arange(0, tmax * 1.001, delta_t):
i = t * rps * 2 * np.pi # angle
# define points for trajectory spline
tr.points[t] = (R * np.cos(i), R * np.sin(i), Z) # anti-clockwise rotation
tr1.points[t] = (R * np.cos(i), R * np.sin(i), Z) # anti-clockwise rotation
Define a circular microphone array with 28 microphones.
m = ac.MicGeom()
m.mpos_tot = np.array(
[
(r * np.sin(2 * np.pi * i + np.pi / 4), r * np.cos(2 * np.pi * i + np.pi / 4), 0)
for i in np.linspace(0.0, 1.0, 28, False)
],
).T
Define the different source signals
nsamples = int(sfreq * tmax)
n1 = ac.WNoiseGenerator(sample_freq=sfreq, numsamples=nsamples)
s1 = ac.SineGenerator(sample_freq=sfreq, numsamples=nsamples, freq=freq)
Define the moving source and one fixed source and mix their signals.
The simulation output is cached by the TimeCache class.
p0 = ac.MovingPointSource(signal=s1, mics=m, trajectory=tr1)
# t = p0 # use only moving source
p1 = ac.PointSource(signal=n1, mics=m, loc=(0, R, Z))
t = ac.Mixer(source=p0, sources=[p1])
cached_mix = ac.TimeCache(source=t)
# t = p1 # use only fix source
Optionally, save the signal of channel 0 and 14 to a wave file.
# ww = WriteWAV(source = t)
# ww.channels = [0,14]
# ww.save()
Define the evaluation grid and the steering vector.
g = ac.RectGrid(x_min=-3.0, x_max=+3.0, y_min=-3.0, y_max=+3.0, z=Z, increment=0.3)
st = ac.SteeringVector(grid=g, mics=m)
Fixed focus time domain beamforming¶
fi = ac.FiltFiltOctave(source=cached_mix, band=freq, fraction='Third octave')
bt = ac.BeamformerTimeSq(source=fi, steer=st, r_diag=True)
avgt = ac.TimeAverage(source=bt, naverage=int(sfreq * tmax / 16)) # 16 single images
cacht = ac.TimeCache(source=avgt) # cache to prevent recalculation
Plot single frames
from pylab import axis, colorbar, figure, imshow, show, subplot, text, tight_layout, title, transpose
figure(1, (8, 7))
i = 1
map2 = np.zeros(g.shape) # accumulator for average
for res in cacht.result(1):
res0 = res[0].reshape(g.shape)
map2 += res0 # average
i += 1
subplot(4, 4, i)
mx = ac.L_p(res0.max())
imshow(ac.L_p(transpose(res0)), vmax=mx, vmin=mx - 10, interpolation='nearest', extent=g.extend(), origin='lower')
colorbar()
map2 /= i
subplot(4, 4, 1)
text(0.4, 0.25, 'fixed\nfocus', fontsize=15, ha='center')
axis('off')
tight_layout()
[('void_cache.h5', 1)]
[('void_cache.h5', 2)]
Moving focus time domain beamforming¶
New grid needed, the trajectory starts at origin and is oriented towards +x thus, with the circular movement assumed, the center of rotation is at (0,2.5)
g1 = ac.RectGrid(
x_min=-3.0,
x_max=+3.0,
y_min=-1.0,
y_max=+5.0,
z=0,
increment=0.3,
) # grid point of origin is at trajectory (thus z=0)
st1 = ac.SteeringVector(grid=g1, mics=m)
# beamforming with trajectory (rvec axis perpendicular to trajectory)
bts = ac.BeamformerTimeSqTraj(source=fi, steer=st1, trajectory=tr, rvec=np.array((0, 0, 1.0)))
avgts = ac.TimeAverage(source=bts, naverage=int(sfreq * tmax / 16)) # 16 single images
cachts = ac.TimeCache(source=avgts) # cache to prevent recalculation
Plot single frames
figure(2, (8, 7))
i = 1
map3 = np.zeros(g1.shape) # accumulator for average
for res in cachts.result(1):
res0 = res[0].reshape(g1.shape)
map3 += res0 # average
i += 1
subplot(4, 4, i)
mx = ac.L_p(res0.max())
imshow(ac.L_p(transpose(res0)), vmax=mx, vmin=mx - 10, interpolation='nearest', extent=g1.extend(), origin='lower')
colorbar()
map3 /= i
subplot(4, 4, 1)
text(0.4, 0.25, 'moving\nfocus', fontsize=15, ha='center')
axis('off')
tight_layout()
[('void_cache.h5', 3)]
Moving focus time domain deconvolution¶
beamforming with trajectory (rvec axis perpendicular to trajectory)
bct = ac.BeamformerCleantSqTraj(source=fi, steer=st1, trajectory=tr, rvec=np.array((0, 0, 1.0)), n_iter=5)
avgct = ac.TimeAverage(source=bct, naverage=int(sfreq * tmax / 16)) # 16 single images
cachct = ac.TimeCache(source=avgct) # cache to prevent recalculation
Plot single frames
figure(3, (8, 7))
i = 1
map4 = np.zeros(g1.shape) # accumulator for average
for res in cachct.result(1):
res0 = res[0].reshape(g1.shape)
map4 += res0 # average
i += 1
subplot(4, 4, i)
mx = ac.L_p(res0.max())
imshow(ac.L_p(transpose(res0)), vmax=mx, vmin=mx - 10, interpolation='nearest', extent=g1.extend(), origin='lower')
colorbar()
map4 /= i
subplot(4, 4, 1)
text(0.4, 0.25, 'moving\nfocus\ndeconvolution', fontsize=15, ha='center')
axis('off')
tight_layout()
[('void_cache.h5', 4)]
Fixed focus frequency domain beamforming¶
f = ac.PowerSpectra(
time_data=cached_mix,
window='Hanning',
overlap='50%',
block_size=128,
)
b = ac.BeamformerBase(freq_data=f, steer=st, r_diag=True)
map1 = b.synthetic(freq, num)
[('void_cache.h5', 5)]
[('void_cache.h5', 6)]
Compare all four methods
figure(4, (10, 3))
subplot(1, 4, 1)
mx = ac.L_p(map1.max())
imshow(ac.L_p(transpose(map1)), vmax=mx, vmin=mx - 10, interpolation='nearest', extent=g.extend(), origin='lower')
colorbar(shrink=0.4)
title('frequency domain\n fixed focus')
subplot(1, 4, 2)
mx = ac.L_p(map2.max())
imshow(ac.L_p(transpose(map2)), vmax=mx, vmin=mx - 10, interpolation='nearest', extent=g.extend(), origin='lower')
colorbar(shrink=0.4)
title('time domain\n fixed focus')
subplot(1, 4, 3)
mx = ac.L_p(map3.max())
imshow(ac.L_p(transpose(map3)), vmax=mx, vmin=mx - 10, interpolation='nearest', extent=g.extend(), origin='lower')
colorbar(shrink=0.4)
title('time domain\n moving focus')
subplot(1, 4, 4)
mx = ac.L_p(map4.max())
imshow(ac.L_p(transpose(map4)), vmax=mx, vmin=mx - 10, interpolation='none', extent=g.extend(), origin='lower')
colorbar(shrink=0.4)
title('time domain\n deconvolution (moving focus)')
tight_layout()
show()
Total running time of the script: (0 minutes 17.159 seconds)