Commit b4e75654 authored by TYAGIRIS's avatar TYAGIRIS
Browse files

fix for head tracking input in quat format, added conversion from quat to euler in degrees

parent 12a463d1

lib_com/ivas_prot.h

+9 −0
Original line number Diff line number Diff line
@@ -4597,6 +4597,15 @@ void Quat2Euler( 
    float *roll                                                 /* o  : roll                                                    */

);



#ifdef SPLIT_REND_WITH_HEAD_ROT

void Quat2EulerDegree(

    const IVAS_QUATERNION quat, /* i  : quaternion describing the rotation             */

    float *yaw,                 /* o  : yaw                                            */

    float *pitch,               /* o  : pitch                                          */

    float *roll                 /* o  : roll                                           */

);

#endif



void SHrotmatgen( 

    float SHrotmat[SBA_NHARM_HOA3][SBA_NHARM_HOA3],             /* o  : SHD rotation matrix                                     */

    float Rmat[3][3],                                           /* i  : real-space rotation matrix                              */

lib_rend/ivas_binauralRenderer.c

+3 −3
Original line number Diff line number Diff line
@@ -1225,7 +1225,7 @@ void ivas_binRenderer( 
            Quaternions_ref = &hHeadTrackData->Quaternions[hHeadTrackData->num_quaternions - 1];

            Quaternions_rel.w = -3.0f;                                                                        /*euler*/

            Quaternions_abs.w = -3.0f;                                                                        /*euler*/

            Quat2Euler( *Quaternions_ref, &Quaternions_abs.z, &Quaternions_abs.y, &Quaternions_abs.x ); /*order in Quat2Euler seems to be reversed ?*/

            Quat2EulerDegree( *Quaternions_ref, &Quaternions_abs.z, &Quaternions_abs.y, &Quaternions_abs.x ); /*order in Quat2Euler seems to be reversed ?*/

            // Quaternions_abs.x = Quaternions_ref->x;

            // Quaternions_abs.y = Quaternions_ref->y;

            // Quaternions_abs.z = Quaternions_ref->z;

lib_rend/ivas_rotation.c

+39 −0
Original line number Diff line number Diff line
@@ -150,6 +150,45 @@ void QuatToRotMat( 
    return;

}



#ifdef SPLIT_REND_WITH_HEAD_ROT

/*-------------------------------------------------------------------------

 * Quat2EulerDegree()

 *

 * Quaternion handling: calculate corresponding Euler angles in degrees

 *------------------------------------------------------------------------*/

void Quat2EulerDegree(

    const IVAS_QUATERNION quat, /* i  : quaternion describing the rotation             */

    float *yaw,                 /* o  : yaw                                            */

    float *pitch,               /* o  : pitch                                          */

    float *roll                 /* o  : roll                                           */

)

{

    if ( quat.w != -3.0 )

    {

        *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 ) );

        *yaw *= _180_OVER_PI;

        *pitch *= _180_OVER_PI;

        *roll *= _180_OVER_PI;

    }

    else

    {

        /* Euler angles in R_X(roll)*R_Y(pitch)*R_Z(yaw) convention

         *

         *  yaw:   rotate scene counter-clockwise in the horizontal plane

         *  pitch: rotate scene in the median plane, increase elevation with positive values

         *  roll:  rotate scene from the right ear to the top

         */

        *yaw = quat.z;

        *pitch = quat.y;

        *roll = quat.x;

    }



    return;

}

#endif



/*-------------------------------------------------------------------------

 * Quat2Euler()

 *

lib_rend/ivas_splitRendererPost.c

+3 −3
Original line number Diff line number Diff line
@@ -585,8 +585,8 @@ static void get_interpolation_vars( 


    /*interpolation if actual pose is not same as one of assumed poses*/

    /*get the deviation*/

    Quat2Euler( *Quaternions_ref, &quaternions_ref_euler.z, &quaternions_ref_euler.y, &quaternions_ref_euler.x ); /*order in Quat2Euler seems to be reversed ?*/

    Quat2Euler( *Quaternions_act, &quaternions_act_euler.z, &quaternions_act_euler.y, &quaternions_act_euler.x ); /*order in Quat2Euler seems to be reversed ?*/

    Quat2EulerDegree( *Quaternions_ref, &quaternions_ref_euler.z, &quaternions_ref_euler.y, &quaternions_ref_euler.x ); /*order in Quat2Euler seems to be reversed ?*/

    Quat2EulerDegree( *Quaternions_act, &quaternions_act_euler.z, &quaternions_act_euler.y, &quaternions_act_euler.x ); /*order in Quat2Euler seems to be reversed ?*/

    quaternions_diff.w = -3.0f;                                                                                         /*euler*/

    quaternions_diff.x = quaternions_act_euler.x - quaternions_ref_euler.x;

    quaternions_diff.y = quaternions_act_euler.y - quaternions_ref_euler.y;