Commit 1757186e authored by Marek Szczerba's avatar Marek Szczerba
Browse files

Orientation tracking processing in quaternions instead of Euler

parent f215ee32

CMakeFiles/3.24.2/CompilerIdC/CMakeCCompilerId.c

0 → 100644
+838 −0

File added.

Preview size limit exceeded, changes collapsed.

lib_com/ivas_prot.h

+10 −2
Original line number Diff line number Diff line
@@ -5504,9 +5504,13 @@ ivas_error ivas_orient_trk_SetTrackingType( 


ivas_error ivas_orient_trk_SetAbsoluteOrientation( 

    ivas_orient_trk_state_t *pOTR,

#ifdef FIX_I109_ORIENTATION_TRACKING

    const Quaternion* pQuat

#else

    float yaw, 

    float pitch, 

    float roll 

#endif

);



ivas_error ivas_orient_trk_Process(
@@ -5515,9 +5519,13 @@ ivas_error ivas_orient_trk_Process( 


ivas_error ivas_orient_trk_GetTrackedOrientation( 

    ivas_orient_trk_state_t *pOTR,

#ifdef FIX_I109_ORIENTATION_TRACKING

    Quaternion *pQuat

#else

    float *yaw,

    float *pitch, 

    float *roll 

#endif

);



void TonalMdctConceal_create_concealment_noise(

lib_dec/ivas_binauralRenderer.c

+4 −5
Original line number Diff line number Diff line
@@ -874,7 +874,7 @@ void ivas_binRenderer( 
    int16_t chIdx, k;

    int16_t numTimeSlots = MAX_PARAM_SPATIAL_SUBFRAMES;

#ifdef FIX_I109_ORIENTATION_TRACKING

    float yaw, pitch, roll;

    Quaternion trackedHeadOrientation;

#endif



    wmops_sub_start( "fastconv_binaural_rendering" );
@@ -899,11 +899,10 @@ void ivas_binRenderer( 
            if ( hHeadTrackData->shd_rot_max_order == -1 )

            {

#ifdef FIX_I109_ORIENTATION_TRACKING

                Quat2Euler( hHeadTrackData->Quaternions[hHeadTrackData->num_quaternions++], &( yaw ), &( pitch ), &( roll ) );

                ivas_orient_trk_SetAbsoluteOrientation( hHeadTrackData->OrientationTracker, yaw, pitch, roll );

                ivas_orient_trk_SetAbsoluteOrientation( hHeadTrackData->OrientationTracker, &( hHeadTrackData->Quaternions[hHeadTrackData->num_quaternions++] ) );

                ivas_orient_trk_Process( hHeadTrackData->OrientationTracker );

                ivas_orient_trk_GetTrackedOrientation( hHeadTrackData->OrientationTracker, &( yaw ), &( pitch ), &( roll ) );

                Euler2RotMat( yaw, pitch, roll, hHeadTrackData->Rmat );

                ivas_orient_trk_GetTrackedOrientation( hHeadTrackData->OrientationTracker, &trackedHeadOrientation );

                QuatToRotMat( trackedHeadOrientation, hHeadTrackData->Rmat );

#else

                QuatToRotMat( hHeadTrackData->Quaternions[hHeadTrackData->num_quaternions++], hHeadTrackData->Rmat );

#endif

lib_dec/ivas_dirac_dec.c

+5 −6
Original line number Diff line number Diff line
@@ -1787,10 +1787,10 @@ void ivas_dirac_dec( 
    float *reference_power, *reference_power_smooth;

    float *onset_filter, *onset_filter_subframe, *p_onset_filter = NULL;

    uint16_t coherence_flag;



#ifdef FIX_I109_ORIENTATION_TRACKING

    float yaw, pitch, roll;

    Quaternion trackedHeadOrientation;

#endif



    wmops_sub_start( "ivas_dirac_dec" );



    /* Initialize aux buffers */
@@ -1856,11 +1856,10 @@ void ivas_dirac_dec( 
        if ( st_ivas->hHeadTrackData )

        {

#ifdef FIX_I109_ORIENTATION_TRACKING

            Quat2Euler( st_ivas->hHeadTrackData->Quaternions[st_ivas->hHeadTrackData->num_quaternions++], &( yaw ), &( pitch ), &( roll ) );

            ivas_orient_trk_SetAbsoluteOrientation( st_ivas->hHeadTrackData->OrientationTracker, yaw, pitch, roll );

            ivas_orient_trk_SetAbsoluteOrientation( st_ivas->hHeadTrackData->OrientationTracker, &( st_ivas->hHeadTrackData->Quaternions[st_ivas->hHeadTrackData->num_quaternions++] ) );

            ivas_orient_trk_Process( st_ivas->hHeadTrackData->OrientationTracker );

            ivas_orient_trk_GetTrackedOrientation( st_ivas->hHeadTrackData->OrientationTracker, &( yaw ), &( pitch ), &( roll ) );

            Euler2RotMat( yaw, pitch, roll, st_ivas->hHeadTrackData->Rmat );

            ivas_orient_trk_GetTrackedOrientation( st_ivas->hHeadTrackData->OrientationTracker, &trackedHeadOrientation );

            QuatToRotMat( trackedHeadOrientation, st_ivas->hHeadTrackData->Rmat );

#else

            QuatToRotMat( st_ivas->hHeadTrackData->Quaternions[st_ivas->hHeadTrackData->num_quaternions++], st_ivas->hHeadTrackData->Rmat );

#endif

lib_dec/ivas_dirac_dec_binaural_functions.c

+4 −6
Original line number Diff line number Diff line
@@ -337,9 +337,8 @@ static void ivas_dirac_dec_binaural_internal( 
    uint8_t firstSlot, slotEnd;

    int16_t max_band_decorr;

    DIFFUSE_DISTRIBUTION_DATA diffuseDistData;



#ifdef FIX_I109_ORIENTATION_TRACKING

    float yaw, pitch, roll;

    Quaternion trackedHeadOrientation;

#endif



    firstSlot = firstSubframe * ( CLDFB_NO_COL_MAX / MAX_PARAM_SPATIAL_SUBFRAMES );
@@ -474,11 +473,10 @@ static void ivas_dirac_dec_binaural_internal( 
    if ( st_ivas->hHeadTrackData && st_ivas->hHeadTrackData->num_quaternions >= 0 )

    {

#ifdef FIX_I109_ORIENTATION_TRACKING

        Quat2Euler( st_ivas->hHeadTrackData->Quaternions[firstSubframe], &( yaw ), &( pitch ), &( roll ) );

        ivas_orient_trk_SetAbsoluteOrientation( st_ivas->hHeadTrackData->OrientationTracker, yaw, pitch, roll );

        ivas_orient_trk_SetAbsoluteOrientation( st_ivas->hHeadTrackData->OrientationTracker, &( st_ivas->hHeadTrackData->Quaternions[firstSubframe] ) );

        ivas_orient_trk_Process( st_ivas->hHeadTrackData->OrientationTracker );

        ivas_orient_trk_GetTrackedOrientation( st_ivas->hHeadTrackData->OrientationTracker, &( yaw ), &( pitch ), &( roll ) );

        Euler2RotMat( yaw, pitch, roll, Rmat );

        ivas_orient_trk_GetTrackedOrientation( st_ivas->hHeadTrackData->OrientationTracker, &trackedHeadOrientation );

        QuatToRotMat( trackedHeadOrientation, Rmat );

#else

        QuatToRotMat( st_ivas->hHeadTrackData->Quaternions[firstSubframe], Rmat );

#endif