7.1.1 Overview

HARKTOOL is a tool for generating and visualizing separation transfer function files used by GHDSS and the localization transfer function files used by LocalizeMUSIC. There are two ways of generating these files, the one is by using the GUI (see below), and the other is by using Commas alone (see 7.1.11).

The functions of HARKTOOL are as follows:

• Generating impulse response list files

• Generating TSP response list files

• Generating microphone position files

• Generating noise position files

• Generating localization transfer files

• Generating separation transfer function files

• Displaying graph of generated files

Files needed to generate a transfer file function differ, depending on whether an impulse recording file is used or TSP recording file is used, as follows:

When using an impulse response recorded file:

1. Impulse response list file (see 7.1.5 Generation of the impulse response list file)

2. Microphone position file (see 7.1.7 Generation of the microphone location information file)

3. Impulse response recording file

When using a TSP response recording file:

1. TSP response list file (see 7.1.6 Generation of the TSP response list file)

2. Microphone position file (see 7.1.7 Generation of the microphone location information file)

3. TSP response recording file

By specifying files through the window, transfer functions are generated.

Transfer function files can be generated in simulations using HARKTOOL. In this case, a transfer function is generated using only a microphone position file, and the transfer function is generated on the assumption that the microphones are actually set are microphones are arranged in free space, so echoes from the object on which microphones are actually set are ignored (e.g. reflection of the robot head).