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: 1) an impulse recording file is used, 2) a TSP recording file is used, or 3) geometry calculation (simulation) without recording files is conducted 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

When conducting geometry calculation (simulation) without recording files:

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

   • If geometry calculation, names of recording files are ignored, so that the file names are arbitrary.

   • In this case, 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).

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

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