Hadn't heard of acoular before:

> Acoular is a Python module for acoustic beamforming that is distributed under the new BSD license.

> It is aimed at applications in acoustic testing. Multichannel data recorded by a microphone array can be processed and analyzed in order to generate mappings of sound source distributions. The maps (acoustic photographs) can then be used to locate sources of interest and to characterize them using their spectra.

Different domain probably, but I wonder how useful/adaptable something like this would be for immersive audio. I have no idea my use case (where-as beam forming seems so useful for getting clear pickup), but I was blown away by djjules's recent ambisonics microphone build; so cool. They also have the most epic diy 7.1.4 immersive audio build. https://hackaday.com/2025/09/07/maurice-brings-immersive-aud...

Cool. Seems like ideal starting point if one wants to build a dyi home drone targeting system.