Conversion back to Euler angles removed from orientation tracker, no Euler... (afe79562) · Commits · IVAS Codec Public Collaboration / IVAS Codec

lib_rend/ivas_orient_trk.c

+9 −29

Original line number	Diff line number	Diff line
		@@ -367,7 +367,7 @@ void VectorRotationToQuaternion(
		r->x = cross_product.x;
		r->y = cross_product.y;
		r->z = cross_product.z;
		r->w = 1.0 + dot_product;
		r->w = 1.0f + dot_product;
		}
		QuaternionNormalize( *r, r );
		}
		@@ -665,8 +665,7 @@ ivas_error ivas_orient_trk_Process(
		float alpha = pOTR->alpha;
		float ang;
		ivas_error result;
		IVAS_QUATERNION absQuat, trkQuat;
		IVAS_QUATERNION trkEuler;
		IVAS_QUATERNION absQuat;

		if ( pOTR == NULL \|\| pTrkRot == NULL )
		{
		@@ -688,7 +687,7 @@ ivas_error ivas_orient_trk_Process(
		switch ( pOTR->trackingType )
		{
		case OTR_TRACKING_NONE:
		trkQuat = absQuat;
		pOTR->trkRot = absQuat;
		break;

		case OTR_TRACKING_REF_ORIENT:
		@@ -699,8 +698,8 @@ ivas_error ivas_orient_trk_Process(
		pOTR->alpha = sinf( 2.0f * EVS_PI * pOTR->centerAdaptationRate / updateRate );

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

		case OTR_TRACKING_AVG_ORIENT:
		@@ -708,14 +707,14 @@ ivas_error ivas_orient_trk_Process(
		QuaternionSlerp( pOTR->absAvgRot, absQuat, alpha, &pOTR->absAvgRot );

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

		relativeOrientationRate = sqrtf( normalizedOrientation ) / pOTR->adaptationAngle;
		@@ -744,7 +743,7 @@ 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, &trkQuat );
		QuaternionProduct( pOTR->refRot, absQuat, &pOTR->trkRot );
		break;
		}
		#endif /* OTR_REFERENCE_VECTOR_TRACKING */
		@@ -753,25 +752,6 @@ ivas_error ivas_orient_trk_Process(
		break;
		}

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

		if ( absRot.w == -3.0f )
		{
		Quat2Euler( trkQuat, &trkEuler.z, &trkEuler.y, &trkEuler.x );
		trkEuler.x = rad2deg( trkEuler.x );
		trkEuler.y = rad2deg( trkEuler.y );
		trkEuler.z = rad2deg( trkEuler.z );
		trkEuler.w = -3.0f;
		*pTrkRot = trkEuler;
		}
		else
		{
		*pTrkRot = trkQuat;
		}
		}

		return result;
		}
		#else

lib_rend/ivas_prot_rend.h

+8 −10

Original line number	Diff line number	Diff line
		@@ -799,16 +799,7 @@ ivas_error ivas_headTrack_open(
		void ivas_headTrack_close(
		HEAD_TRACK_DATA_HANDLE hHeadTrackData / i/o: head track handle */
		);
		#endif

		void Quat2Euler(
		const IVAS_QUATERNION quat, /* i : quaternion describing the rotation */
		float yaw, / o : yaw (z) */
		float pitch, / o : pitch (y) */
		float roll / o : roll (x) */
		);

		#ifdef FIX_I109_ORIENTATION_TRACKING
		void Euler2Quat(
		const float roll, /* i : roll (x) */
		const float pitch, /* i : pitch (y) */
		@@ -818,9 +809,16 @@ void Euler2Quat(

		float deg2rad( float degrees );

		float rad2deg( float radians );
		#else
		void Quat2Euler(
		const IVAS_QUATERNION quat, /* i : quaternion describing the rotation */
		float yaw, / o : yaw (z) */
		float pitch, / o : pitch (y) */
		float roll / o : roll (x) */
		);
		#endif


		void QuatToRotMat(
		const IVAS_QUATERNION quat, /* i : quaternion describing the rotation */
		float Rmat[3][3] /* o : real-space rotation matrix for this rotation */

lib_rend/ivas_rotation.c

+27 −28

Original line number	Diff line number	Diff line
		@@ -120,6 +120,29 @@ void QuatToRotMat(
		)
		{
		float s1, s2, s3, c1, c2, c3;

		#ifdef FIX_I109_ORIENTATION_TRACKING
		c1 = cosf( quat.z / _180_OVER_PI );
		c2 = cosf( quat.y / _180_OVER_PI );
		c3 = cosf( quat.x / _180_OVER_PI );

		s1 = sinf( quat.z / _180_OVER_PI );
		s2 = sinf( -quat.y / _180_OVER_PI );
		s3 = sinf( quat.x / _180_OVER_PI );

		Rmat[0][0] = c2 * c3;
		Rmat[0][1] = -c2 * s3;
		Rmat[0][2] = s2;

		Rmat[1][0] = c1 * s3 + c3 * s1 * s2;
		Rmat[1][1] = c1 * c3 - s1 * s2 * s3;
		Rmat[1][2] = -c2 * s1;

		Rmat[2][0] = s1 * s3 - c1 * c3 * s2;
		Rmat[2][1] = c3 * s1 + c1 * s2 * s3;
		Rmat[2][2] = c1 * c2;
		#else

		#ifdef DEBUGGING
		/* PrintQuat( quat ); */
		#endif
		@@ -177,10 +200,12 @@ void QuatToRotMat(
		Rmat[2][1] = c3 * s1 + c1 * s2 * s3;
		Rmat[2][2] = c1 * c2;
		}
		#endif

		return;
		}

		#ifndef FIX_I109_ORIENTATION_TRACKING
		/*-------------------------------------------------------------------------
		* Quat2Euler()
		*
		@@ -196,15 +221,9 @@ void Quat2Euler(
		{
		if ( quat.w != -3.0 )
		{
		#ifdef FIX_I109_ORIENTATION_TRACKING
		roll = atan2f( 2 ( quat.w * quat.x + quat.y * quat.z ), 1 - 2 * ( quat.x * quat.x + quat.y * quat.y ) );
		pitch = asinf( 2 ( quat.w * quat.y - quat.z * quat.x ) );
		yaw = atan2f( 2 ( quat.w * quat.z + quat.x * quat.y ), 1 - 2 * ( quat.y * quat.y + quat.z * quat.z ) );
		#else // bug: x and z swapped
		yaw = atan2f( 2 ( quat.w * quat.x + quat.y * quat.z ), 1 - 2 * ( quat.x * quat.x + quat.y * quat.y ) );
		pitch = asinf( 2 ( quat.w * quat.y - quat.z * quat.x ) );
		roll = atan2f( 2 ( quat.w * quat.z + quat.x * quat.y ), 1 - 2 * ( quat.y * quat.y + quat.z * quat.z ) );
		#endif
		}
		else
		{
		@@ -221,6 +240,7 @@ void Quat2Euler(

		return;
		}
		#endif

		#ifdef FIX_I109_ORIENTATION_TRACKING
		/*-------------------------------------------------------------------------
		@@ -252,7 +272,7 @@ void Euler2Quat(
		}

		/*-------------------------------------------------------------------------
		* rad2deg()
		* deg2rad()
		*
		* Return angle in radians from degrees
		------------------------------------------------------------------------/
		@@ -269,29 +289,8 @@ float deg2rad( float degrees )

		return PI_OVER_180 * degrees;
		}

		/*-------------------------------------------------------------------------
		* deg2rad()
		*
		* Return angle in degrees from radians
		------------------------------------------------------------------------/
		float rad2deg( float radians )
		{
		if ( radians >= EVS_PI )
		{
		radians = radians - PI2;
		}
		if ( radians <= -EVS_PI )
		{
		radians = radians + PI2;
		}

		return _180_OVER_PI * radians;
		}

		#endif


		/*-------------------------------------------------------------------------
		* rotateAziEle()
		*