convert-bag-to-wav

#!/usr/bin/env python2

from __future__ import division

import sys

from numpy import *
import scikits.audiolab as al

import pyaudio

import rosbag

in_bag = rosbag.Bag(sys.argv[1])

if __name__ == '__main__':
    n_step = 160
    n_frame = 512
    gain = 20

    if len(sys.argv) < 3:
        out_fn = sys.argv[1].replace('.bag', '.wav')
    else:
        out_fn = sys.argv[2]

    print('Output file: {0}'.format(out_fn))

    wav = None

    t_s = in_bag.get_start_time()
    t_e = in_bag.get_end_time()
    for topic, msg, t in in_bag.read_messages(topics='/audio'):
        percentage = (t.to_sec() - t_s) / (t_e - t_s)
        sys.stdout.write('\r{0:4.2f}%'.format(100 * percentage))
        if wav is None:
            # Use Python lists instead of numpy arrays (for faster appending)
            wav = [list() for x in range(msg.nch)]
        new_data = array(msg.data).reshape([msg.len, msg.nch])[:n_step]
        for i in range(msg.nch):
            # Flatten list and append
            # https://stackoverflow.com/questions/952914/making-a-flat-list-out-of-list-of-lists-in-python
            for elem in transpose(new_data)[i]:
                wav[i].append(elem)
    sys.stdout.flush()

    # Columns: channels
    wav = transpose(array(wav))
    al.wavwrite(wav, out_fn, fs=16000, enc="pcm24")
    print('\nDone!')

dog-record-audio

#!/bin/bash

convert_to_wav=false
launch_file="$HOME/ros/src/raspzx/raspzx/launch/raspzx_dog_mic.launch"

_num_channels() {
    arecord -l | \
        egrep -o '[[:digit:]]+[[:space:]]*ch' | \
        egrep -o '[[:digit:]]+' | \
        uniq
}

while getopts 'r:h' OPT; do
    case $OPT in
        r)
            filename="$OPTARG"
            convert_to_wav=true
            ;;
        h)
            echo "$0 [-r wav file name] [channels]"
            exit 0
            ;;
    esac
done
shift $(( OPTIND - 1 ))

# Command line arguments
channels="${1:-8}"

actual_channels="$( _num_channels )"
if [[ $actual_channels != $channels ]]; then
    echo -e "\e[31mInconsistent number of channels: $channels specified but found $actual_channels\e[0m" >&2
    echo -e "\e[31mPlease run arecord -l and check the output.\e[0m" >&2
    exit 1
fi

if $convert_to_wav && ! which wav_saver >/dev/null; then
    echo -e "\e[31mwav_saver not found\e[0m" >&2
    exit 1
fi

source /opt/ros/indigo/setup.bash
source ~/ros/devel/setup.bash
export ROS_HOSTNAME=raspi2_ros
export ROS_MASTER_URI=http://raspi2_ros:11311
 
# Edit the launch file
sed -i -e "s/RASPZX[[:digit:]]\+ch/RASPZX${channels}ch/" ${launch_file}
sed -i -e "s/n_mic\" value=\"[[:digit:]]/n_mic\" value=\"${channels}/" ${launch_file}
sed -i -e "s/list_mic\">\[[0-9,]*\]/list_mic\">[$( seq -s, $(( channels - 1 )) -1 0 | sed -e 's/,$//' )]/" ${launch_file}

roslaunch ${launch_file} &
disown
echo -e "\e[32mWaiting for processes to start up.\e[0m"
sleep 10

echo -e "\e[32mWill start recording. Press Ctrl-c to exit.\e[0m"
if $convert_to_wav; then
    exec wav_saver $filename
else
    exec rosbag record -a
fi