Incorrect SemiBlindICA work on my network

HARK FORUM Incorrect SemiBlindICA work on my network

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  • #1054

      Hello! While setting up a network in HARK_DESIGNER, we’ve faced a few difficulties:

      1) I can place the SemiBlindICA module on MAIN and MAIN_LOOP.

      In the first case (MAIN), the system works without delay. But I am not sure that the processing takes place in the right way, as you wrote earlier.

      In the second case (MAIN_LOOP), the system works with the accumulation of a pause, that means HARK starts processing data received from microphones in 3 seconds in the first cycle, in 6 seconds – in the second cycle, and so on. I tried to change the settings of the HarkMsgsStramFromRos and SemiBlindICA modules, but did not get any changes. I think that the accumulation of pause occurs in the separation network.


        2) A question concerning several parameters.

        – The LENGTH and WINDOW_LENGTH parameters are in many modules. Do they have to be the same everywhere?

        – In my case MSG_BUFFER_NUM and DATA_BUFFER_NUM in StreamFromHarkMsgs are equal in size of the buffer sent in the HarkWave message, is this correct? Or do I need to specify the queue size which is set when writing messages to the topic?

        3) The HarkWave message contains count. It is equal to seq from header. Am I doing the right thing?

        4) HarkWaveVal from HarkWave implies vector <float>. When saving data directly to a file, we get clear sound. After writing a message to HarkWave topic, we catch it by StreamFromHarkMsgs node and write to the file. In this case strong noises appear in the file. Do I need some kind of additional changes in order to transmit through the topic, or do I need to write to the topic just a set of bytes?

        5) When recording in ROS-topic, we set the size of the stored queue. Do I need to Indicate it in some of the nodes in hark_designer?


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            It is difficult to answer immediately because the previous moderator is busy at other work.
            Sorry, please wait for a while.

            HARK Support Team


              Hi Steph,

              I was wondering if you were able to resolve your issue?
              If not, would you happen to have a sample of the audio you are trying to stream?

              I would like to try and replicate the results you are currently experiencing.

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