re-enable and fix quat2euler (0d67d76c) · Commits · IVAS Codec Public Collaboration / IVAS Codec

lib_rend/ivas_orient_trk.c

+39 −13

Original line number	Diff line number	Diff line
		@@ -457,25 +457,40 @@ ivas_error ivas_orient_trk_Process(
		float alpha = pOTR->alpha;
		float ang;
		ivas_error result;
		IVAS_QUATERNION quat;
		IVAS_QUATERNION refQuat, trkQuat;
		IVAS_QUATERNION trkEuler;

		if ( pOTR == NULL \|\| pTrkRot == NULL )
		{
		return IVAS_ERR_UNEXPECTED_NULL_POINTER;
		}

		quat.w = 0.0f;
		quat.x = 0.0f;
		quat.y = 0.0f;
		quat.z = 0.0f;
		refQuat.w = 0.0f;
		refQuat.x = 0.0f;
		refQuat.y = 0.0f;
		refQuat.z = 0.0f;
		/* check for Euler angle signaling */
		if ( pOTR->refRot.w == -3.0f )
		{
		Euler2Quat(pOTR->refRot.x, pOTR->refRot.y, pOTR->refRot.z, &quat);
		Euler2Quat(pOTR->refRot.x, pOTR->refRot.y, pOTR->refRot.z, &refQuat);
		}
		else
		{
		quat = pOTR->refRot;
		refQuat = pOTR->refRot;
		}

		trkQuat.w = 0.0f;
		trkQuat.x = 0.0f;
		trkQuat.y = 0.0f;
		trkQuat.z = 0.0f;
		/* check for Euler angle signaling */
		if ( pTrkRot->w == -3.0f )
		{
		Euler2Quat(pTrkRot->x, pTrkRot->y, pTrkRot->z, &trkQuat);
		}
		else
		{
		trkQuat = *pTrkRot;
		}

		result = IVAS_ERR_OK;
		@@ -483,7 +498,7 @@ ivas_error ivas_orient_trk_Process(
		switch ( pOTR->trackingType )
		{
		case OTR_TRACKING_NONE:
		pTrkRot = pAbsRot;
		trkQuat = *pAbsRot;
		break;

		case OTR_TRACKING_REF_ORIENT:
		@@ -494,8 +509,8 @@ ivas_error ivas_orient_trk_Process(
		pOTR->alpha = sinf( 2.0f * EVS_PI * pOTR->centerAdaptationRate / updateRate );

		/* Compute relative orientation = (absolute orientation) - (reference orientation) */
		QuaternionInverse( quat, pTrkRot );
		QuaternionProduct( pTrkRot, pAbsRot, pTrkRot );
		QuaternionInverse( refQuat, &trkQuat );
		QuaternionProduct( trkQuat, *pAbsRot, &trkQuat );
		break;

		case OTR_TRACKING_AVG_ORIENT:
		@@ -503,8 +518,8 @@ ivas_error ivas_orient_trk_Process(
		QuaternionSlerp( pOTR->absAvgRot, *pAbsRot, alpha, &pOTR->absAvgRot );

		/* Compute relative orientation = (absolute orientation) - (average absolute orientation) */
		QuaternionInverse( pOTR->absAvgRot, pTrkRot );
		QuaternionProduct( pTrkRot, pAbsRot, pTrkRot );
		QuaternionInverse( pOTR->absAvgRot, &trkQuat );
		QuaternionProduct( trkQuat, *pAbsRot, &trkQuat );

		/* Adapt LPF constant based on orientation excursion relative to current mean:
		- low cutoff (slow adaptation) for small excursions (around center)
		@@ -542,7 +557,18 @@ ivas_error ivas_orient_trk_Process(

		if ( result == IVAS_ERR_OK )
		{
		pOTR->trkRot = *pTrkRot;
		pOTR->trkRot = trkQuat;

		if ( pTrkRot->w == -3.0f )
		{
		Quat2Euler(trkQuat, &trkEuler.x, &trkEuler.y, &trkEuler.z);
		trkEuler.w = -3.0f;
		*pTrkRot = trkEuler;
		}
		else
		{
		*pTrkRot = trkQuat;
		}
		}

		return result;

lib_rend/ivas_prot_rend.h

+0 −2

Original line number	Diff line number	Diff line
		@@ -796,14 +796,12 @@ void ivas_headTrack_close(
		);
		#endif

		#ifndef FIX_I109_ORIENTATION_TRACKING
		void Quat2Euler(
		const IVAS_QUATERNION quat, /* i : quaternion describing the rotation */
		float yaw, / o : yaw */
		float pitch, / o : pitch */
		float roll / o : roll */
		);
		#endif

		#ifdef FIX_I109_ORIENTATION_TRACKING
		void Euler2Quat(

lib_rend/ivas_rotation.c

+14 −10

Original line number	Diff line number	Diff line
		@@ -176,7 +176,6 @@ void QuatToRotMat(
		return;
		}

		#ifndef FIX_I109_ORIENTATION_TRACKING
		/*-------------------------------------------------------------------------
		* Quat2Euler()
		*
		@@ -204,14 +203,19 @@ void Quat2Euler(
		* pitch: rotate scene in the median plane, increase elevation with positive values
		* roll: rotate scene from the right ear to the top
		*/
		#ifdef FIX_I109_ORIENTATION_TRACKING
		*yaw = quat.x;
		*pitch = quat.y;
		*roll = quat.z;
		#else
		*yaw = quat.z;
		*pitch = quat.y;
		*roll = quat.x;
		#endif
		}

		return;
		}
		#endif

		#ifdef FIX_I109_ORIENTATION_TRACKING
		/*-------------------------------------------------------------------------
		@@ -227,12 +231,12 @@ void Euler2Quat(
		IVAS_QUATERNION quat / o : quaternion describing the rotation */
		)
		{
		float cr = cos( roll * 0.5f );
		float sr = sin( roll * 0.5f );
		float cp = cos( pitch * 0.5f );
		float sp = sin( pitch * 0.5f );
		float cy = cos( yaw * 0.5f );
		float sy = sin( yaw * 0.5f );
		float cr = cosf( roll * 0.5f );
		float sr = sinf( roll * 0.5f );
		float cp = cosf( pitch * 0.5f );
		float sp = sinf( pitch * 0.5f );
		float cy = cosf( yaw * 0.5f );
		float sy = sinf( yaw * 0.5f );

		quat->w = cr * cp * cy + sr * sp * sy;
		quat->x = sr * cp * cy - cr * sp * sy;