Euler to quaternion conversion moved out of orientation tracking processing (718f59c9) · Commits · IVAS Codec Public Collaboration / IVAS Codec

lib_dec/lib_dec.c

+10 −0

Original line number	Diff line number	Diff line
		@@ -906,7 +906,11 @@ ivas_error IVAS_DEC_FeedHeadTrackData(
		HEAD_TRACK_DATA_HANDLE hHeadTrackData;
		int16_t i;

		#ifdef FIX_I109_ORIENTATION_TRACKING
		if ( hIvasDec == NULL \|\| hIvasDec->st_ivas == NULL \|\| orientation == NULL )
		#else
		if ( hIvasDec == NULL \|\| hIvasDec->st_ivas == NULL )
		#endif
		{
		return IVAS_ERR_UNEXPECTED_NULL_POINTER;
		}
		@@ -922,6 +926,12 @@ ivas_error IVAS_DEC_FeedHeadTrackData(
		for ( i = 0; i < MAX_PARAM_SPATIAL_SUBFRAMES; i++ )
		{
		#ifdef FIX_I109_ORIENTATION_TRACKING
		/* check for Euler angle signaling */
		if ( orientation[i].w == -3.0f )
		{
		Euler2Quat( deg2rad( orientation[i].x ), deg2rad( orientation[i].y ), deg2rad( orientation[i].z ), &orientation[i] );
		}

		ivas_orient_trk_Process( hHeadTrackData->OrientationTracker, orientation[i], FRAMES_PER_SEC * MAX_PARAM_SPATIAL_SUBFRAMES, &hHeadTrackData->Quaternions[i] );
		#else
		hHeadTrackData->Quaternions[i].w = orientation[i].w;

lib_rend/ivas_orient_trk.c

+7 −18

Original line number	Diff line number	Diff line
		@@ -665,56 +665,45 @@ ivas_error ivas_orient_trk_Process(
		float alpha = pOTR->alpha;
		float ang;
		ivas_error result;
		IVAS_QUATERNION absQuat;

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

		/* check for Euler angle signaling */
		if ( absRot.w == -3.0f )
		{
		Euler2Quat( deg2rad( absRot.x ), deg2rad( absRot.y ), deg2rad( absRot.z ), &absQuat );
		}
		else
		{
		absQuat = absRot;
		}

		result = IVAS_ERR_OK;

		switch ( pOTR->trackingType )
		{
		case OTR_TRACKING_NONE:
		pOTR->trkRot = absQuat;
		pOTR->trkRot = absRot;
		break;

		case OTR_TRACKING_REF_ORIENT:
		/* Reset average orientation */
		pOTR->absAvgRot = absQuat;
		pOTR->absAvgRot = absRot;

		/* Reset adaptation filter - start adaptation at center rate */
		pOTR->alpha = sinf( 2.0f * EVS_PI * pOTR->centerAdaptationRate / updateRate );

		/* Compute relative orientation = (absolute orientation) - (reference orientation) */
		QuaternionInverse( pOTR->refRot, &pOTR->trkRot );
		QuaternionProduct( pOTR->trkRot, absQuat, &pOTR->trkRot );
		QuaternionProduct( pOTR->trkRot, absRot, &pOTR->trkRot );
		break;

		case OTR_TRACKING_AVG_ORIENT:
		/* Compute average (low-pass filtered) absolute orientation */
		QuaternionSlerp( pOTR->absAvgRot, absQuat, alpha, &pOTR->absAvgRot );
		QuaternionSlerp( pOTR->absAvgRot, absRot, alpha, &pOTR->absAvgRot );

		/* Compute relative orientation = (absolute orientation) - (average absolute orientation) */
		QuaternionInverse( pOTR->absAvgRot, &pOTR->trkRot );
		QuaternionProduct( pOTR->trkRot, absQuat, &pOTR->trkRot );
		QuaternionProduct( pOTR->trkRot, absRot, &pOTR->trkRot );

		/* Adapt LPF constant based on orientation excursion relative to current mean:
		- low cutoff (slow adaptation) for small excursions (around center)
		- high cutoff (fast adaptation) for large excursions (off-center)
		*/
		ang = QuaternionAngle( absQuat, pOTR->trkRot );
		ang = QuaternionAngle( absRot, pOTR->trkRot );
		normalizedOrientation = ang * ang;

		relativeOrientationRate = sqrtf( normalizedOrientation ) / pOTR->adaptationAngle;
		@@ -743,7 +732,7 @@ ivas_error ivas_orient_trk_Process(
		case OTR_TRACKING_REF_VEC_LEV:
		{
		/* This processing step of the OTR_TRACKING_REF_VEC/OTR_TRACKING_REF_VEC_LEVEL is identical */
		QuaternionProduct( pOTR->refRot, absQuat, &pOTR->trkRot );
		QuaternionProduct( pOTR->refRot, absRot, &pOTR->trkRot );
		break;
		}
		#endif /* OTR_REFERENCE_VECTOR_TRACKING */

lib_rend/lib_rend.c

+16 −3

Original line number	Diff line number	Diff line
		@@ -3967,6 +3967,9 @@ ivas_error IVAS_REND_SetHeadRotation(
		)
		{
		int16_t i;
		#ifdef FIX_I109_ORIENTATION_TRACKING
		IVAS_QUATERNION rotQuat;
		#endif

		/-----------------------------------------------------------------
		* Validate function arguments
		@@ -3993,7 +3996,17 @@ ivas_error IVAS_REND_SetHeadRotation(
		for ( i = 0; i < RENDERER_HEAD_POSITIONS_PER_FRAME; ++i )
		{
		#ifdef FIX_I109_ORIENTATION_TRACKING
		ivas_orient_trk_Process( hIvasRend->headRotData.hOrientationTracker, headRot[i], FRAMES_PER_SEC * MAX_PARAM_SPATIAL_SUBFRAMES, &hIvasRend->headRotData.headPositions[i] );
		/* check for Euler angle signaling */
		if ( headRot[i].w == -3.0f )
		{
		Euler2Quat( deg2rad( headRot[i].x ), deg2rad( headRot[i].y ), deg2rad( headRot[i].z ), &rotQuat );
		}
		else
		{
		rotQuat = headRot[i];
		}

		ivas_orient_trk_Process( hIvasRend->headRotData.hOrientationTracker, rotQuat, FRAMES_PER_SEC * MAX_PARAM_SPATIAL_SUBFRAMES, &hIvasRend->headRotData.headPositions[i] );
		#else
		hIvasRend->headRotData.headPositions[i] = headRot[i];
		#endif