audio: add degree into audio detection output

modules/audio/common/message_process.cc

@@ -30,12 +30,14 @@ void MessageProcess::OnMicrophone(
     SirenDetection* siren_detection,
     AudioDetection* audio_detection) {
   audio_info->Insert(audio_data);
-  *(audio_detection->mutable_position()) =
+  auto direction_result =
       direction_detection->EstimateSoundSource(
           audio_info->GetSignals(audio_data.microphone_config().chunk()),
           respeaker_extrinsics_file,
           audio_data.microphone_config().sample_rate(),
           audio_data.microphone_config().mic_distance());
+  *(audio_detection->mutable_position()) = direction_result.first;
+  audio_detection->set_source_degree(direction_result.second);
 
   bool is_siren = siren_detection->Evaluate(audio_info->GetSignals(72000));
   audio_detection->set_is_siren(is_siren);

modules/audio/inference/BUILD

@@ -19,6 +19,7 @@ cc_library(
     hdrs = ["direction_detection.h"],
     deps = [
         "//cyber",
+        "//modules/common/math:math_utils",
         "//modules/common/proto:geometry_cc_proto",
         "//third_party:libtorch",
         "@com_github_jbeder_yaml_cpp//:yaml-cpp",

modules/audio/inference/direction_detection.cc

@@ -17,17 +17,20 @@
 #include "modules/audio/inference/direction_detection.h"
 #include "yaml-cpp/yaml.h"
 
+#include "modules/common/math/math_utils.h"
+
 namespace apollo {
 namespace audio {
 
 using torch::indexing::None;
 using torch::indexing::Slice;
+using apollo::common::math::NormalizeAngle;
 
 DirectionDetection::DirectionDetection() {}
 
 DirectionDetection::~DirectionDetection() {}
 
-Point3D DirectionDetection::EstimateSoundSource(
+std::pair<Point3D, double> DirectionDetection::EstimateSoundSource(
     std::vector<std::vector<double>>&& channels_vec,
     const std::string& respeaker_extrinsic_file, const int sample_rate,
     const double mic_distance) {
@@ -35,7 +38,7 @@ Point3D DirectionDetection::EstimateSoundSource(
     respeaker2imu_ptr_.reset(new Eigen::Matrix4d);
     LoadExtrinsics(respeaker_extrinsic_file, respeaker2imu_ptr_.get());
   }
-  const double degree =
+  double degree =
       EstimateDirection(move(channels_vec), sample_rate, mic_distance);
   Eigen::Vector4d source_position(kDistance * sin(degree),
                                   kDistance * cos(degree), 0, 1);
@@ -45,8 +48,8 @@ Point3D DirectionDetection::EstimateSoundSource(
   source_position_p3d.set_x(source_position[0]);
   source_position_p3d.set_y(source_position[1]);
   source_position_p3d.set_z(source_position[2]);
-
-  return source_position_p3d;
+  degree = NormalizeAngle(degree);
+  return {source_position_p3d, degree};
 }
 
 double DirectionDetection::EstimateDirection(
@@ -76,7 +79,7 @@ double DirectionDetection::EstimateDirection(
   }
   best_guess = (-best_guess + 480) % 360;
 
-  return static_cast<double>(best_guess) / 90 * M_PI;
+  return static_cast<double>(best_guess) / 180 * M_PI;
 }
 
 bool DirectionDetection::LoadExtrinsics(const std::string& yaml_file,

modules/audio/inference/direction_detection.h

@@ -47,9 +47,10 @@ class DirectionDetection {
   DirectionDetection();
   ~DirectionDetection();
   // Estimates the position of the source of the sound
-  Point3D EstimateSoundSource(std::vector<std::vector<double>>&& channels_vec,
-                              const std::string& respeaker_extrinsic_file,
-                              const int sample_rate, const double mic_distance);
+  std::pair<Point3D, double> EstimateSoundSource(
+      std::vector<std::vector<double>>&& channels_vec,
+      const std::string& respeaker_extrinsic_file,
+      const int sample_rate, const double mic_distance);
 
  private:
   const double kSoundSpeed = 343.2;

modules/audio/proto/audio.proto

@@ -27,4 +27,5 @@ message AudioDetection {
   optional bool is_siren = 2;
   optional apollo.audio.MovingResult moving_result = 3 [default = UNKNOWN];
   optional apollo.common.Point3D position = 4;
+  optional double source_degree = 5;
 }