It’s been a little over a month since I got back from Manchester, and this post should’ve come out earlier but I’ve been swamped.
The conference was absolutely lovely, the organisation was a 110% on point (serious kudos, I know first hand how hard that is). Others on Planet GNOME have written extensively about the talks, the social events, and everything in between that made it a great experience. What I would like to write about is about why this year’s GUADEC was special to me.
GNOME turning 20 years old is obviously a large milestone, and one of the main reasons I wanted to make sure I was at Manchester this year. There were many occasions to take stock of how far we had come, where we are, and most importantly, to reaffirm who we are, and why we do what we do.
And all of this made me think of my own history with GNOME. In 2002/2003, Nat and Miguel came down to Bangalore to talk about some of the work they were doing. I know I wasn’t the only one who found their energy infectious, and at Linux Bangalore 2003, they got on stage, just sat down, and started hacking up a GtkMozEmbed-based browser. The idea itself was fun, but what I took away — and I know I wasn’t the only one — is the sheer inclusive joy they shared in creating something and sharing that with their audience.
For all of us working on GNOME in whatever way we choose to contribute, there is the immediate gratification of shaping this project, as well as the larger ideological underpinning of making everyone’s experience talking to their computers better and free-er.
But I think it is also important to remember that all our efforts to make our community an inviting and inclusive space have a deep impact across the world. So much so that complete strangers from around the world are able to feel a sense of belonging to something much larger than themselves.
I am excited about everything we will achieve in the next 20 years.
(thanks go out to the GNOME Foundation for helping me attend GUADEC this year)
In case you missed it — we got PulseAudio 9.0 out the door, with the echo cancellation improvements that I wrote about. Now is probably a good time for me to make good on my promise to expand upon the subject of beamforming.
As with the last post, I’d like to shout out to the wonderful folks at Aldebaran Robotics who made this work possible!
Beamforming as a concept is used in various aspects of signal processing including radio waves, but I’m going to be talking about it only as applied to audio. The basic idea is that if you have a number of microphones (a mic array) in some known arrangement, it is possible to “point” or steer the array in a particular direction, so sounds coming from that direction are made louder, while sounds from other directions are rendered softer (attenuated).
Practically speaking, it should be easy to see the value of this on a laptop, for example, where you might want to focus a mic array to point in front of the laptop, where the user probably is, and suppress sounds that might be coming from other locations. You can see an example of this in the webcam below. Notice the grilles on either side of the camera — there is a microphone behind each of these.
Webcam with 2 mics
This raises the question of how this effect is achieved. The simplest approach is called “delay-sum beamforming”. The key idea in this approach is that if we have an array of microphones that we want to steer the array at a particular angle, the sound we want to steer at will reach each microphone at a different time. This is illustrated below. The image is taken from this great article describing the principles and math in a lot more detail.
In this figure, you can see that the sound from the source we want to listen to reaches the top-most microphone slightly before the next one, which in turn captures the audio slightly before the bottom-most microphone. If we know the distance between the microphones and the angle to which we want to steer the array, we can calculate the additional distance the sound has to travel to each microphone.
The speed of sound in air is roughly 340 m/s, and thus we can also calculate how much of a delay occurs between the same sound reaching each microphone. The signal at the first two microphones is delayed using this information, so that we can line up the signal from all three. Then we take the sum of the signal from all three (actually the average, but that’s not too important).
The signal from the direction we’re pointing in is going to be strongly correlated, so it will turn out loud and clear. Signals from other directions will end up being attenuated because they will only occur in one of the mics at a given point in time when we’re summing the signals — look at the noise wavefront in the illustration above as an example.
(this section is a bit more technical than the rest of the article, feel free to skim through or skip ahead to the next section if it’s not your cup of tea!)
The devil is, of course, in the details. Given the microphone geometry and steering direction, calculating the expected delays is relatively easy. We capture audio at a fixed sample rate — let’s assume this is 32000 samples per second, or 32 kHz. That translates to one sample every 31.25 µs. So if we want to delay our signal by 125µs, we can just add a buffer of 4 samples (4 × 31.25 = 125). Sound travels about 4.25 cm in that time, so this is not an unrealistic example.
Now, instead, assume the signal needs to be delayed by 80 µs. This translates to 2.56 samples. We’re working in the digital domain — the mic has already converted the analog vibrations in the air into digital samples that have been provided to the CPU. This means that our buffer delay can either be 2 samples or 3, not 2.56. We need another way to add a fractional delay (else we’ll end up with errors in the sum).
There is a fair amount of academic work describing methods to perform filtering on a sample to provide a fractional delay. One common way is to apply an FIR filter. However, to keep things simple, the method I chose was the Thiran approximation — the literature suggests that it performs the task reasonably well, and has the advantage of not having to spend a whole lot of CPU cycles first transforming to the frequency domain (which an FIR filter requires)(edit: converting to the frequency domain isn’t necessary, thanks to the folks who pointed this out).
Now it’s time for a confession. I’m a plumber, not a DSP ninja. My delay-sum beamformer doesn’t do a very good job. I suspect part of it is the limitation of the delay-sum approach, partly the use of an IIR filter (which the Thiran approximation is), and it’s also entirely possible there is a bug in my fractional delay implementation. Reviews and suggestions are welcome!
A Better Implementation
The astute reader has, by now, realised that we are already doing a bunch of processing on incoming audio during voice calls — I’ve written in the previous article about how the webrtc-audio-processing engine provides echo cancellation, acoustic gain control, voice activity detection, and a bunch of other features.
Another feature that the library provides is — you guessed it — beamforming. The engineers at Google (who clearly are DSP ninjas) have a pretty good beamformer implementation, and this is also available via module-echo-cancel. You do need to configure the microphone geometry yourself (which means you have to manually load the module at the moment). Details are on our wiki (thanks to Tanu for that!).
How well does this work? Let me show you. The image below is me talking to my laptop, which has two microphones about 4cm apart, on either side of the webcam, above the screen. First I move to the right of the laptop (about 60°, assuming straight ahead is 0°). Then I move to the left by about the same amount (the second speech spike). And finally I speak from the center (a couple of times, since I get distracted by my phone).
The upper section represents the microphone input — you’ll see two channels, one corresponding to each mic. The bottom part is the processed version, with echo cancellation, gain control, noise suppression, etc. and beamforming.
You can also listen to the actual recordings …
… and the processed output.
Feels like black magic, doesn’t it?
The webrtc-audio-processing-based beamforming is already available for you to use. The downside is that you need to load the module manually, rather than have this automatically plugged in when needed (because we don’t have a way to store and retrieve the mic geometry). At some point, I would really like to implement a configuration framework within PulseAudio to allow users to set configuration from some external UI and have that be picked up as needed.
Nicolas Dufresne has done some work to wrap the webrtc-audio-processing library functionality in a GStreamer element (and this is in master now). Adding support for beamforming to the element would also be good to have.
The module-beamformer bits should be a good starting point for folks who want to wrap their own beamforming library and have it used in PulseAudio. Feel free to get in touch with me if you need help with that.
This one’s going to be a bit of a long post. You might want to grab a cup of coffee before you jump in!
Over the last few years, I’ve spent some time getting PulseAudio up and running on a few Android-based phones. There was the initial Galaxy Nexus port, a proof-of-concept port of Firefox OS (git) to use PulseAudio instead of AudioFlinger on a Nexus 4, and most recently, a port of Firefox OS to use PulseAudio on the first gen Moto G and last year’s Sony Xperia Z3 Compact (git).
The process so far has been largely manual and painstaking, and I’ve been trying to make that easier. But before I talk about the how of that, let’s see how all this works in the first place.
While I did mention a while back (almost two years ago, wow) that I was taking a break, I realised recently that I hadn’t posted an update from when I started again.
For the last year and a half, I’ve been providing freelance consulting around PulseAudio, GStreamer, and various other directly and tangentially related projects. There’s a brief list of the kind of work I’ve been involved in.
If you’re looking for help with PulseAudio, GStreamer, multimedia middleware or anything else you might’ve come across on this blog, do get in touch!
Thanks to everyone who contributed with bug reports and testing. What isn’t generally visible is that a lot of this happens behind the scenes downstream on distribution bug trackers, IRC, and so forth.
I know it’s been ages, but I am now working on updating the webrtc-audio-processing library. You might remember this as the code that we split off from the webrtc.org code to use in the PulseAudio echo cancellation module.
This is basically just the AudioProcessing module, bundled as a standalone library so that we can use the fantastic AEC, AGC, and noise suppression implementation from that code base. For packaging simplicity, I made a copy of the necessary code, and wrote an autotools-based build system around that.
Now since I last copied the code, the library API has changed a bit — nothing drastic, just a few minor cleanups and removed API. This wouldn’t normally be a big deal since this code isn’t actually published as external API — it’s mostly embedded in the Chromium and Firefox trees, probably other projects too.
Since we are exposing a copy of this code as a standalone library, this means that there are two options — we could (a) just break the API, and all dependent code needs to be updated to be able to use the new version, or (b) write a small wrapper to try to maintain backwards compatibility.
I’m inclined to just break API and release a new version of the library which is not backwards compatible. My rationale for this is that I’d like to keep the code as close to what is upstream as possible, and over time it could become painful to maintain a bunch of backwards-compatibility code.
A nicer solution would be to work with upstream to make it possible to build the AudioProcessing module as a standalone library. While the folks upstream seemed amenable to the idea when this came up a few years ago, nobody has stepped up to actually do the work for this. In the mean time, a number of interesting features have been added to the module, and it would be good to pull this in to use in PulseAudio and any other projects using this code (more about this in a follow-up post).
So if you’re using webrtc-audio-processing, be warned that the next release will probably break API, and you’ll need to update your code. I’ll try to publish a quick update guide when releasing the code, but if you want to look at the current API, take a look at the current audio_processing.h.
p.s.: If you do use webrtc-audio-processing as a dependency, I’d love to hear about it. As far as I know, PulseAudio is the only user of this library at the moment.
This one’s a bit late, for reasons that’ll be clear enough later in this post. I had the happy opportunity to go to GUADEC in Gothenburg this year (after missing the last two, unfortunately). It was a great, well-organised event, and I felt super-charged again, meeting all the people making GNOME better every day.
GUADEC picnic @ Gothenberg
I presented a status update of what we’ve been up to in the PulseAudio world in the past few years. Amazingly, all the videos are up already, so you can catch up with anything that you might have missed here.
We also had a meeting of PulseAudio developers which and a number of interesting topics of discussion came up (I’ll try to summarise my notes in a separate post).
A bunch of other interesting discussions happened in the hallways, and I’ll write about that if my investigations take me some place interesting.
Now the downside — I ended up missing the BoF part of GUADEC, and all of the GStreamer hackfest in Montpellier after. As it happens, I contracted dengue and I’m still recovering from this. Fortunately it was the lesser (non-haemorrhagic) version without any complications, so now it’s just a matter of resting till I’ve recuperated completely.
Nevertheless, the first part of the trip was great, and I’d like to thank the GNOME Foundation for sponsoring my travel and stay, without which I would have missed out on all the GUADEC fun this year.
I was in Depok, Indonesia last week to speak at GNOME Asia 2015. It was a great experience — the organisers did a fantastic job and as a bonus, the venue was incredibly pretty!
View from our room
My talk was about the GNOME audio stack, and my original intention was to talk a bit about the APIs, how to use them, and how to choose which to use. After the first day, though, I felt like a more high-level view of the pieces would be more useful to the audience, so I adjusted the focus a bit. My slides are up here.
Nirbheek and I then spent a couple of days going down to Yogyakarta to cycle around, visit some temples, and sip some fine hipster coffee.
All in all, it was a week well spent. I’d like to thank the GNOME Foundation for helping me get to the conference!
The third week of October was quite action-packed, with a whole bunch of conferences happening in Düsseldorf. The Linux audio developer community as well as the PulseAudio developers each had a whole day of discussions related to a wide range of topics. I’ll be summarising the events of the PulseAudio mini summit day here. The discussion was split into two parts, the first half of the day with just the current core developers and the latter half with members of the community participating as well.
I’d like to thank the Linux Foundation for sparing us a room to carry out these discussions — it’s fantastic that we are able to colocate such meetings with a bunch of other conferences, making it much easier than it would otherwise be for all of us to converge to a single place, hash out ideas, and generally have a good time in real life as well!
Happy faces — incontrovertible proof that everyone loves PulseAudio!
With a whole day of discussions, this is clearly going to be a long post, so you might want to grab a coffee now. :)
Four years and what seems like a lifetime ago, I jumped aboard the ship Collabora Multimedia, and set sail for adventure and lands unknown. We sailed through strange new seas, to exotic lands, defeated many monsters, and, I feel, had some positive impact on the world around us. Last Friday, on my request, I got dropped back at the shore.
I’ve had an insanely fun time at Collabora, working with absurdly talented and dedicated people. Nevertheless, I’ve come to the point where I feel like I need something of a break. I’m not sure what’s next, other than a month or two of rest and relaxation — reading, cycling, travel, and catching up with some of the things I’ve been promising to do if only I had more time. Yes, that includes PulseAudio and GStreamer hacking as well. :-)