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Pocketsphinx does not work on ev3dev

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MotoR
2017-04-22
2017-04-23

  • MotoR

    MotoR - 2017-04-22

    I tried to use Pocketsphinx on ev3dev on Lego EV3 brick. I made and installed libraries sphinxbase-5prealpha and pocketsphinx-5prealpha as written there - http://cmusphinx.sourceforge.net/wiki/tutorialpocketsphinx. But a test fails: when I run "pocketsphinx_continuous -inmic yes", the program freezes on "INFO: ngram_search_fwdtree.c(186): Creating search channels" and then after about 30 minutes arrears "Killed". What is wrong?

    I use a mic from a USB-webcam. The microphone works fine. I know this because I record a sound successfully.

    robot@ev3dev:~$ pocketsphinx_continuous -inmic yes
INFO: pocketsphinx.c(152): Parsed model-specific feature parameters from /usr/lo                                                                         cal/share/pocketsphinx/model/en-us/en-us/feat.params
Current configuration:
[NAME]                  [DEFLT]         [VALUE]
-agc                    none            none
-agcthresh              2.0             2.000000e+00
-allphone
-allphone_ci            no              no
-alpha                  0.97            9.700000e-01
-ascale                 20.0            2.000000e+01
-aw                     1               1
-backtrace              no              no
-beam                   1e-48           1.000000e-48
-bestpath               yes             yes
-bestpathlw             9.5             9.500000e+00
-ceplen                 13              13
-cmn                    live            batch
-cmninit                40,3,-1         41.00,-5.29,-0.12,5.09,2.48,-4.07,-1.37,                                                                         -1.78,-5.08,-2.05,-6.45,-1.42,1.17
-compallsen             no              no
-debug                                  0
-dict                                   /usr/local/share/pocketsphinx/model/en-u                                                                         s/cmudict-en-us.dict
-dictcase               no              no
-dither                 no              no
-doublebw               no              no
-ds                     1               1
-fdict
-feat                   1s_c_d_dd       1s_c_d_dd
-featparams
-fillprob               1e-8            1.000000e-08
-frate                  100             100
-fsg
-fsgusealtpron          yes             yes
-fsgusefiller           yes             yes
-fwdflat                yes             yes
-fwdflatbeam            1e-64           1.000000e-64
-fwdflatefwid           4               4
-fwdflatlw              8.5             8.500000e+00
-fwdflatsfwin           25              25
-fwdflatwbeam           7e-29           7.000000e-29
-fwdtree                yes             yes
-hmm                                    /usr/local/share/pocketsphinx/model/en-u                                                                         s/en-us
-input_endian           little          little
-jsgf
-keyphrase
-kws
-kws_delay              10              10
-kws_plp                1e-1            1.000000e-01
-kws_threshold          1               1.000000e+00
-latsize                5000            5000
-lda
-ldadim                 0               0
-lifter                 0               22
-lm                                     /usr/local/share/pocketsphinx/model/en-u                                                                         s/en-us.lm.bin
-lmctl
-lmname
-logbase                1.0001          1.000100e+00
-logfn
-logspec                no              no
-lowerf                 133.33334       1.300000e+02
-lpbeam                 1e-40           1.000000e-40
-lponlybeam             7e-29           7.000000e-29
-lw                     6.5             6.500000e+00
-maxhmmpf               30000           30000
-maxwpf                 -1              -1
-mdef
-mean
-mfclogdir
-min_endfr              0               0
-mixw
-mixwfloor              0.0000001       1.000000e-07
-mllr
-mmap                   yes             yes
-ncep                   13              13
-nfft                   512             512
-nfilt                  40              25
-nwpen                  1.0             1.000000e+00
-pbeam                  1e-48           1.000000e-48
-pip                    1.0             1.000000e+00
-pl_beam                1e-10           1.000000e-10
-pl_pbeam               1e-10           1.000000e-10
-pl_pip                 1.0             1.000000e+00
-pl_weight              3.0             3.000000e+00
-pl_window              5               5
-rawlogdir
-remove_dc              no              no
-remove_noise           yes             yes
-remove_silence         yes             yes
-round_filters          yes             yes
-samprate               16000           1.600000e+04
-seed                   -1              -1
-sendump
-senlogdir
-senmgau
-silprob                0.005           5.000000e-03
-smoothspec             no              no
-svspec                                 0-12/13-25/26-38
-tmat
-tmatfloor              0.0001          1.000000e-04
-topn                   4               4
-topn_beam              0               0
-toprule
-transform              legacy          dct
-unit_area              yes             yes
-upperf                 6855.4976       6.800000e+03
-uw                     1.0             1.000000e+00
-vad_postspeech         50              50
-vad_prespeech          20              20
-vad_startspeech        10              10
-vad_threshold          2.0             2.000000e+00
-var
-varfloor               0.0001          1.000000e-04
-varnorm                no              no
-verbose                no              no
-warp_params
-warp_type              inverse_linear  inverse_linear
-wbeam                  7e-29           7.000000e-29
-wip                    0.65            6.500000e-01
-wlen                   0.025625        2.562500e-02

INFO: feat.c(715): Initializing feature stream to type: '1s_c_d_dd', ceplen=13,                                                                          CMN='batch', VARNORM='no', AGC='none'
INFO: acmod.c(162): Using subvector specification 0-12/13-25/26-38
INFO: mdef.c(518): Reading model definition: /usr/local/share/pocketsphinx/model                                                                         /en-us/en-us/mdef
INFO: mdef.c(531): Found byte-order mark BMDF, assuming this is a binary mdef fi                                                                         le
INFO: bin_mdef.c(336): Reading binary model definition: /usr/local/share/pockets                                                                         phinx/model/en-us/en-us/mdef
INFO: bin_mdef.c(516): 42 CI-phone, 137053 CD-phone, 3 emitstate/phone, 126 CI-s                                                                         en, 5126 Sen, 29324 Sen-Seq
INFO: tmat.c(149): Reading HMM transition probability matrices: /usr/local/share                                                                         /pocketsphinx/model/en-us/en-us/transition_matrices
INFO: acmod.c(113): Attempting to use PTM computation module
INFO: ms_gauden.c(127): Reading mixture gaussian parameter: /usr/local/share/poc                                                                         ketsphinx/model/en-us/en-us/means
INFO: ms_gauden.c(242): 42 codebook, 3 feature, size:
INFO: ms_gauden.c(244):  128x13
INFO: ms_gauden.c(244):  128x13
INFO: ms_gauden.c(244):  128x13
INFO: ms_gauden.c(127): Reading mixture gaussian parameter: /usr/local/share/poc                                                                         ketsphinx/model/en-us/en-us/variances
INFO: ms_gauden.c(242): 42 codebook, 3 feature, size:
INFO: ms_gauden.c(244):  128x13
INFO: ms_gauden.c(244):  128x13
INFO: ms_gauden.c(244):  128x13
INFO: ms_gauden.c(304): 222 variance values floored
INFO: ptm_mgau.c(476): Loading senones from dump file /usr/local/share/pocketsph                                                                         inx/model/en-us/en-us/sendump
INFO: ptm_mgau.c(500): BEGIN FILE FORMAT DESCRIPTION
INFO: ptm_mgau.c(563): Rows: 128, Columns: 5126
INFO: ptm_mgau.c(595): Using memory-mapped I/O for senones
INFO: ptm_mgau.c(838): Maximum top-N: 4
INFO: phone_loop_search.c(114): State beam -225 Phone exit beam -225 Insertion p                                                                         enalty 0
INFO: dict.c(320): Allocating 138824 * 20 bytes (2711 KiB) for word entries
INFO: dict.c(333): Reading main dictionary: /usr/local/share/pocketsphinx/model/                                                                         en-us/cmudict-en-us.dict
INFO: dict.c(213): Dictionary size 134723, allocated 1016 KiB for strings, 1679                                                                          KiB for phones
INFO: dict.c(336): 134723 words read
INFO: dict.c(358): Reading filler dictionary: /usr/local/share/pocketsphinx/mode                                                                         l/en-us/en-us/noisedict
INFO: dict.c(213): Dictionary size 134728, allocated 0 KiB for strings, 0 KiB fo                                                                         r phones
INFO: dict.c(361): 5 words read
INFO: dict2pid.c(396): Building PID tables for dictionary
INFO: dict2pid.c(406): Allocating 42^3 * 2 bytes (144 KiB) for word-initial trip                                                                         hones
INFO: dict2pid.c(132): Allocated 21336 bytes (20 KiB) for word-final triphones
INFO: dict2pid.c(196): Allocated 21336 bytes (20 KiB) for single-phone word trip                                                                         hones
INFO: ngram_model_trie.c(354): Trying to read LM in trie binary format
INFO: ngram_search_fwdtree.c(74): Initializing search tree
INFO: ngram_search_fwdtree.c(101): 791 unique initial diphones
INFO: ngram_search_fwdtree.c(186): Creating search channels
Killed
robot@ev3dev:~$
     

    • Nickolay V. Shmyrev

      Nickolay V. Shmyrev - 2017-04-22

      64Mb of memory is not enough to run pocketsphinx continuous speech recognition. You can only use pocketsphinx for few commands with very simple model, not with a large vocabulary.

       

  • MotoR

    MotoR - 2017-04-23

    Thanks. Actually I want to use only 5-7 words to control EV3. How to start working with a simple model if I am using Python?

     

    • Nickolay V. Shmyrev

      Nickolay V. Shmyrev - 2017-04-24

      Collect the data for your specific commands (1-5 hours is recommended in tutorial). Train an acoustic model based on tutorial, use it with a small grammar. Overall it is not easy to fit recognizer on such a limited hardware, you'd better figure out more powerful robot.

       

  • MotoR

    MotoR - 2017-04-27

    Thanks for the theory but how to do it practically. Which apps do I need to use? Which commands?

     

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