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Is there a command-line utility which would allow me to extract pitch information from an audio file and store it in a numerical form (i.e. as a list of comma-separated values)?

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Are you talking about something like the data which feeds Audacity's Pitch (EAC) display .. Aside from somehow tapping in to Audacity's source, I don't know of such a utiliy, but I'll be watching this space. –  Peter.O Dec 8 '11 at 6:10
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You could have a look at pitchtrack but it only supports two output formats, its own (.pt) and PostScript if you use the included "pt2ps" tool.

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