Skip to content

[respeaker_ros] change frames_per_buffer for webrtcvad #560

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
k-okada merged 1 commit into from
Oct 22, 2025
Merged

[respeaker_ros] change frames_per_buffer for webrtcvad #560

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion respeaker_ros/scripts/respeaker_node.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@ def __init__(self):
self.speech_continuation = rospy.get_param("~speech_continuation", 0.5)
self.speech_max_duration = rospy.get_param("~speech_max_duration", 7.0)
self.speech_min_duration = rospy.get_param("~speech_min_duration", 0.1)
self.sample_duration = rospy.get_param("~sample_duration", None) # sec
suppress_pyaudio_error = rospy.get_param("~suppress_pyaudio_error", True)
#
self.respeaker = RespeakerInterface()
Expand All @@ -34,7 +35,8 @@ def __init__(self):
self.config = None
self.dyn_srv = Server(RespeakerConfig, self.on_config)
# start
self.respeaker_audio = RespeakerAudio(self.on_audio, suppress_error=suppress_pyaudio_error)
self.respeaker_audio = RespeakerAudio(self.on_audio, suppress_error=suppress_pyaudio_error,
sample_duration=self.sample_duration)
self.speech_prefetch_bytes = int(
self.speech_prefetch * self.respeaker_audio.rate * self.respeaker_audio.bitdepth / 8.0)
self.speech_prefetch_buffer = b""
Expand Down
8 changes: 6 additions & 2 deletions respeaker_ros/src/respeaker_ros/__init__.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -232,7 +232,7 @@ def close(self):


class RespeakerAudio(object):
def __init__(self, on_audio, channel=0, suppress_error=True):
def __init__(self, on_audio, channel=0, suppress_error=True, sample_duration=None):
self.on_audio = on_audio
with ignore_stderr(enable=suppress_error):
self.pyaudio = pyaudio.PyAudio()
Expand All @@ -242,6 +242,10 @@ def __init__(self, on_audio, channel=0, suppress_error=True):
self.rate = 16000
self.bitwidth = 2
self.bitdepth = 16
if sample_duration is not None:
frames_per_buffer = int(sample_duration * self.rate)
else:
frames_per_buffer = 1024

# find device
count = self.pyaudio.get_device_count()
Expand Down Expand Up @@ -272,7 +276,7 @@ def __init__(self, on_audio, channel=0, suppress_error=True):
format=pyaudio.paInt16,
channels=self.channels,
rate=self.rate,
frames_per_buffer=1024,
frames_per_buffer=frames_per_buffer,
stream_callback=self.stream_callback,
input_device_index=self.device_index,
)
Expand Down
Loading