diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 1a4448046e775c2f2a9c69ae43cf5760599e6997..7a02bd69e5f46ded24881183f8722e55ce98ef0f 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -550,7 +550,7 @@ renderer-smoke-test: - .rules-merge-request-to-main needs: ["build-codec-linux-cmake"] stage: test - timeout: "1 hour" + timeout: "90 minutes" artifacts: name: "mr-$CI_MERGE_REQUEST_IID--sha-$CI_COMMIT_SHORT_SHA--job-$CI_JOB_NAME--results" expire_in: 1 week @@ -681,6 +681,28 @@ split-rendering-smoke-test: junit: - report-junit.xml +# test split rendering in VoIP mode against BINAURAL output +split-rendering-voip-be-to-binaural: + extends: + - .test-job-linux + - .rules-merge-request-to-main + needs: ["build-codec-linux-make"] + stage: test + script: + - make -j + - testcase_timeout=30 + - python3 -m pytest -q -n auto -rA --junit-xml=report-junit.xml tests/split_rendering/test_voip_be_splitrend_vs_binaural.py --testcase_timeout=$testcase_timeout + artifacts: + name: "mr-$CI_MERGE_REQUEST_IID--sha-$CI_COMMIT_SHORT_SHA--job-$CI_JOB_NAME--results" + expire_in: 1 week + when: always + paths: + - report-junit.xml + expose_as: "VoIP split rendering vs BINAURAL make pytest results" + reports: + junit: + - report-junit.xml + lc3-wrapper-unit-test: extends: - .test-job-linux diff --git a/Workspace_msvc/lib_dec.vcxproj b/Workspace_msvc/lib_dec.vcxproj index 3c7ea3e597de37d9377fc8ad745a158d37ca713c..944e2646671876747db0be1722dcb5d559c82a38 100644 --- a/Workspace_msvc/lib_dec.vcxproj +++ b/Workspace_msvc/lib_dec.vcxproj @@ -147,6 +147,7 @@ + @@ -312,6 +313,7 @@ + @@ -348,4 +350,4 @@ - \ No newline at end of file + diff --git a/Workspace_msvc/lib_dec.vcxproj.filters b/Workspace_msvc/lib_dec.vcxproj.filters index 8eddbb60a098e2b807e849b7bc72e1fe003e8a53..5197d664574099c3d400b8411e230c14545bf555 100644 --- a/Workspace_msvc/lib_dec.vcxproj.filters +++ b/Workspace_msvc/lib_dec.vcxproj.filters @@ -277,6 +277,9 @@ decoder_all_c + + decoder_all_c + decoder_all_c @@ -517,6 +520,9 @@ + + decoder_h + decoder_h @@ -569,4 +575,4 @@ {c33b80b3-67ce-466b-91c0-4adfc9efcb5c} - \ No newline at end of file + diff --git a/apps/decoder.c b/apps/decoder.c index 4a28b4470b7c26a1673b05209a6c3d834a0882df..350fba302b7ba94ff5961e985635d5430baea46d 100644 --- a/apps/decoder.c +++ b/apps/decoder.c @@ -171,7 +171,12 @@ typedef struct static bool parseCmdlIVAS_dec( int16_t argc, char **argv, DecArguments *arg ); static void usage_dec( void ); static ivas_error decodeG192( DecArguments arg, BS_READER_HANDLE hBsReader, IVAS_DEC_HRTF_BINARY_WRAPPER *hHrtf, RotFileReader *headRotReader, RotFileReader *externalOrientationFileReader, RotFileReader *refRotReader, Vector3PairFileReader *referenceVectorReader, ObjectEditFileReader *objectEditFileReader, ISAR_SPLIT_REND_BITS_DATA *splitRendBits, IVAS_DEC_HANDLE hIvasDec, int16_t *pcmBuf ); -static ivas_error decodeVoIP( DecArguments arg, BS_READER_HANDLE hBsReader, IVAS_DEC_HRTF_BINARY_WRAPPER *hHrtf, RotFileReader *headRotReader, RotFileReader *externalOrientationFileReader, RotFileReader *refRotReader, Vector3PairFileReader *referenceVectorReader, ObjectEditFileReader *objectEditFileReader, IVAS_DEC_HANDLE hIvasDec, int16_t *pcmBuf ); +static ivas_error decodeVoIP( DecArguments arg, BS_READER_HANDLE hBsReader, IVAS_DEC_HRTF_BINARY_WRAPPER *hHrtf, RotFileReader *headRotReader, RotFileReader *externalOrientationFileReader, RotFileReader *refRotReader, Vector3PairFileReader *referenceVectorReader, ObjectEditFileReader *objectEditFileReader, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + ISAR_SPLIT_REND_BITS_DATA *splitRendBits, +#endif + IVAS_DEC_HANDLE hIvasDec, + int16_t *pcmBuf ); static ivas_error load_hrtf_from_file( IVAS_DEC_HRTF_BINARY_WRAPPER *hHrtfBinary, IVAS_DEC_HANDLE hIvasDec, const IVAS_AUDIO_CONFIG OutputConfig, const int32_t output_Fs ); #ifdef DEBUGGING static ivas_error printBitstreamInfoVoip( DecArguments arg, BS_READER_HANDLE hBsReader, IVAS_DEC_HANDLE hIvasDec ); @@ -752,7 +757,11 @@ int main( if ( arg.voipMode ) { - error = decodeVoIP( arg, hBsReader, &hHrtfBinary, headRotReader, externalOrientationFileReader, refRotReader, referenceVectorReader, objectEditFileReader, hIvasDec, pcmBuf ); + error = decodeVoIP( arg, hBsReader, &hHrtfBinary, headRotReader, externalOrientationFileReader, refRotReader, referenceVectorReader, objectEditFileReader, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + &splitRendBits, +#endif + hIvasDec, pcmBuf ); } else { @@ -1881,7 +1890,11 @@ static ivas_error initOnFirstGoodFrame( for ( int16_t i = 0; i < numInitialBadFrames; ++i ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( isSplitRend ) +#else if ( *splitRendWriter != NULL ) +#endif { ISAR_SPLIT_REND_BITS_DATA splitRendBitsZero; splitRendBitsZero.bits_buf = NULL; @@ -1899,7 +1912,12 @@ static ivas_error initOnFirstGoodFrame( return error; } } + +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( !isSplitCoded ) +#else else +#endif { if ( *pRemainingDelayNumSamples < *numOutSamples ) { @@ -2106,6 +2124,14 @@ static ivas_error decodeG192( return error; } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( !isSplitRend ) + { + /* Ensure split rendering output struct is not used when not outputting to a split rendering format */ + splitRendBits = NULL; + } +#endif + if ( ( error = IVAS_DEC_is_split_rendering_coded_out( hIvasDec, &isSplitCoded ) ) != IVAS_ERR_OK ) { fprintf( stderr, "\nError in IVAS_DEC_is_split_rendering_coded_out, code: %d\n", error ); @@ -2441,7 +2467,11 @@ static ivas_error decodeG192( } /* decode transport channels, do TSM and feed to renderer */ - if ( ( error = IVAS_DEC_GetSamplesDecoder( hIvasDec, isSplitRend, splitRendBits ) ) != IVAS_ERR_OK ) + if ( ( error = IVAS_DEC_GetSamplesDecoder( hIvasDec, +#ifndef FIX_1119_SPLIT_RENDERING_VOIP + isSplitRend, +#endif + splitRendBits ) ) != IVAS_ERR_OK ) { return error; } @@ -2992,6 +3022,9 @@ static ivas_error decodeVoIP( RotFileReader *refRotReader, Vector3PairFileReader *referenceVectorReader, ObjectEditFileReader *objectEditFileReader, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + ISAR_SPLIT_REND_BITS_DATA *splitRendBits, +#endif IVAS_DEC_HANDLE hIvasDec, int16_t *pcmBuf ) { @@ -3043,6 +3076,29 @@ static ivas_error decodeVoIP( bool parametersAvailableForEditing = false; uint16_t nSamplesRendered = 0; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + SplitFileReadWrite *splitRendWriter = NULL; + int16_t isSplitRend, isSplitCoded; + + if ( ( error = IVAS_DEC_is_split_rendering_enabled( hIvasDec, &isSplitRend ) ) != IVAS_ERR_OK ) + { + fprintf( stderr, "\nError in IVAS_DEC_is_split_rendering_enabled, code: %d\n", error ); + return error; + } + + if ( !isSplitRend ) + { + /* Ensure split rendering output struct is not used when not outputting to a split rendering format */ + splitRendBits = NULL; + } + + if ( ( error = IVAS_DEC_is_split_rendering_coded_out( hIvasDec, &isSplitCoded ) ) != IVAS_ERR_OK ) + { + fprintf( stderr, "\nError in IVAS_DEC_is_split_rendering_coded_out, code: %d\n", error ); + return error; + } +#endif + vec_pos_update = 0; if ( ( error = IVAS_DEC_GetRenderFramesizeMs( hIvasDec, &systemTimeInc_ms ) ) != IVAS_ERR_OK ) { @@ -3333,15 +3389,38 @@ static ivas_error decodeVoIP( /* decode and get samples */ while ( nSamplesRendered < nOutSamples ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( isSplitRend ) + { + if ( ( error = IVAS_DEC_VoIP_GetSplitBinauralBitstream( hIvasDec, (void *) pcmBuf, splitRendBits, +#ifdef SUPPORT_JBM_TRACEFILE + writeJbmTraceFileFrameWrapper, + jbmTraceWriter, +#endif + &bitstreamReadDone, + &nSamplesRendered, + ¶metersAvailableForEditing, + systemTime_ms ) ) != IVAS_ERR_OK ) + { + fprintf( stderr, "\nError in IVAS_DEC_VoIP_GetSplitBinauralBitstream: %s\n", IVAS_DEC_GetErrorMessage( error ) ); + goto cleanup; + } + } + else + { +#endif #ifdef SUPPORT_JBM_TRACEFILE - if ( ( error = IVAS_DEC_VoIP_GetSamples( hIvasDec, nOutSamples, IVAS_DEC_PCM_INT16, (void *) pcmBuf, writeJbmTraceFileFrameWrapper, jbmTraceWriter, &bitstreamReadDone, &nSamplesRendered, ¶metersAvailableForEditing, systemTime_ms ) ) != IVAS_ERR_OK ) + if ( ( error = IVAS_DEC_VoIP_GetSamples( hIvasDec, nOutSamples, IVAS_DEC_PCM_INT16, (void *) pcmBuf, writeJbmTraceFileFrameWrapper, jbmTraceWriter, &bitstreamReadDone, &nSamplesRendered, ¶metersAvailableForEditing, systemTime_ms ) ) != IVAS_ERR_OK ) #else if ( ( error = IVAS_DEC_VoIP_GetSamples( hIvasDec, nOutSamples, IVAS_DEC_PCM_INT16, (void *) pcmBuf, &bitstreamReadDone, &nSamplesRendered, ¶meterAvailableForEditing, systemTime_ms ) ) != IVAS_ERR_OK ) #endif - { - fprintf( stderr, "\nError in IVAS_DEC_VoIP_GetSamples: %s\n", IVAS_DEC_GetErrorMessage( error ) ); - goto cleanup; + { + fprintf( stderr, "\nError in IVAS_DEC_VoIP_GetSamples: %s\n", IVAS_DEC_GetErrorMessage( error ) ); + goto cleanup; + } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP } +#endif if ( bitstreamReadDone == true ) { @@ -3421,9 +3500,17 @@ static ivas_error decodeVoIP( /* Once good frame decoded, catch up */ if ( decodedGoodFrame ) { +#ifndef FIX_1119_SPLIT_RENDERING_VOIP SplitFileReadWrite *splitRendWriter = NULL; +#endif - if ( ( error = initOnFirstGoodFrame( hIvasDec, arg, numInitialBadFrames, &nOutSamples, NULL, delayNumSamples_orig, &delayNumSamples, &delayTimeScale, + if ( ( error = initOnFirstGoodFrame( hIvasDec, arg, numInitialBadFrames, &nOutSamples, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + &vec_pos_len, +#else + NULL, +#endif + delayNumSamples_orig, &delayNumSamples, &delayTimeScale, &bsFormat, &afWriter, &masaWriter, ismWriters, &nOutChannels, &numObj, &splitRendWriter ) ) != IVAS_ERR_OK ) { fprintf( stderr, "Error in initOnFirstGoodFrame(): %s\n", IVAS_DEC_GetErrorMessage( error ) ); @@ -3439,19 +3526,34 @@ static ivas_error decodeVoIP( /* Write current frame */ if ( decodedGoodFrame ) { - if ( delayNumSamples < nOutSamples ) +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( isSplitRend ) { - if ( ( error = AudioFileWriter_write( afWriter, &pcmBuf[delayNumSamples * nOutChannels], nOutSamples * nOutChannels - ( delayNumSamples * nOutChannels ) ) ) != IVAS_ERR_OK ) + if ( split_rend_write_bitstream_to_file( splitRendWriter, splitRendBits->bits_buf, &splitRendBits->bits_read, &splitRendBits->bits_written ) != IVAS_ERR_OK ) { - fprintf( stderr, "\nOutput audio file writer error\n" ); + fprintf( stderr, "\nUnable to write to bitstream file!\n" ); goto cleanup; } - delayNumSamples = 0; } - else + if ( !isSplitCoded ) { - delayNumSamples -= nOutSamples; +#endif + if ( delayNumSamples < nOutSamples ) + { + if ( ( error = AudioFileWriter_write( afWriter, &pcmBuf[delayNumSamples * nOutChannels], nOutSamples * nOutChannels - ( delayNumSamples * nOutChannels ) ) ) != IVAS_ERR_OK ) + { + fprintf( stderr, "\nOutput audio file writer error\n" ); + goto cleanup; + } + delayNumSamples = 0; + } + else + { + delayNumSamples -= nOutSamples; + } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP } +#endif /* Write ISM metadata to external file(s) */ if ( decodedGoodFrame && arg.outputConfig == IVAS_AUDIO_CONFIG_EXTERNAL ) @@ -3540,7 +3642,11 @@ static ivas_error decodeVoIP( goto cleanup; } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( nSamplesFlushed && !isSplitCoded ) +#else if ( nSamplesFlushed ) +#endif { /* Write current frame */ if ( ( error = AudioFileWriter_write( afWriter, pcmBuf, nSamplesFlushed * nOutChannels ) ) != IVAS_ERR_OK ) @@ -3610,11 +3716,19 @@ static ivas_error decodeVoIP( *------------------------------------------------------------------------------------------*/ memset( pcmBuf, 0, delayNumSamples_orig[0] * nOutChannels * sizeof( int16_t ) ); - if ( ( error = AudioFileWriter_write( afWriter, pcmBuf, delayNumSamples_orig[0] * nOutChannels ) ) != IVAS_ERR_OK ) + +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( afWriter != NULL ) { - fprintf( stderr, "\nError writing output file: %s\n", ivas_error_to_string( error ) ); - goto cleanup; +#endif + if ( ( error = AudioFileWriter_write( afWriter, pcmBuf, delayNumSamples_orig[0] * nOutChannels ) ) != IVAS_ERR_OK ) + { + fprintf( stderr, "\nError writing output file: %s\n", ivas_error_to_string( error ) ); + goto cleanup; + } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP } +#endif /*------------------------------------------------------------------------------------------* * Printouts after decoding has finished @@ -3659,6 +3773,9 @@ cleanup: EVS_RTPDUMP_DEPACKER_close( &rtpdumpDepacker ); AudioFileWriter_close( &afWriter ); +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + split_rend_reader_writer_close( &splitRendWriter ); +#endif JbmOffsetFileWriter_close( &jbmOffsetWriter ); #ifdef SUPPORT_JBM_TRACEFILE JbmTraceFileWriter_close( &jbmTraceWriter ); diff --git a/apps/isar_post_rend.c b/apps/isar_post_rend.c index 2744c3bbe5855eb06393bc3ac5a418cfef302c3e..26fa12f6d41f74d931f72c06e14b20c291fbedfc 100644 --- a/apps/isar_post_rend.c +++ b/apps/isar_post_rend.c @@ -1104,6 +1104,19 @@ int main( fprintf( stderr, "\nISAR_POST_REND_FeedSplitBinauralBitstream failed: %s\n", ivas_error_to_string( error ) ); goto cleanup; } + +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + /* Set BFI if frame is empty */ + int16_t frameEmpty = (int16_t) ( bitsBuffer.config.bitsWritten == 0 ); + if ( frameEmpty ) + { + if ( ( error = ISAR_POST_REND_SetSplitRendBFI( hIsarPostRend, 1 ) ) != IVAS_ERR_OK ) + { + fprintf( stderr, "Error in ISAR_POST_REND_SetSplitRendBFI(): %s\n", ivas_error_to_string( error ) ); + goto cleanup; + } + } +#endif } } diff --git a/lib_com/options.h b/lib_com/options.h index ee846da36c4aa5ed7a073d09e3096bf3e48aba1c..4a3e4558370e1c43424846266ed268a8e2f60a1e 100644 --- a/lib_com/options.h +++ b/lib_com/options.h @@ -162,7 +162,8 @@ /* only BE switches wrt selection floating point code */ /*#define FIX_I4_OL_PITCH*/ /* fix open-loop pitch used for EVS core switching */ -#define TMP_FIX_1119_SPLIT_RENDERING_VOIP /* FhG: Add error check for unsupported config: split rendering with VoIP mode */ +#define FIX_1119_SPLIT_RENDERING_VOIP /* FhG: Add split rendering support to decoder in VoIP mode */ +#define TMP_1342_WORKAROUND_DEC_FLUSH_BROKEN_IN_SR /* FhG: Temporary workaround for incorrect implementation of decoder flush with split rendering */ #define FIX_1995_REVERB_INIT /* issue 1995: Fix use-of-uninitialized-value in ivas_binaural_reverb_init() */ #define FIX_1372_OSBA_OBJECT_EDITING /* VA: issue 1372: Fix OSBA object-editing in BINAURAL_ROOM_IR */ diff --git a/lib_dec/cldfb_ring_buffer.c b/lib_dec/cldfb_ring_buffer.c new file mode 100644 index 0000000000000000000000000000000000000000..959929d5720d4cee0d8cc238171326fad3520bde --- /dev/null +++ b/lib_dec/cldfb_ring_buffer.c @@ -0,0 +1,225 @@ +/****************************************************************************************************** + + (C) 2022-2025 IVAS codec Public Collaboration with portions copyright Dolby International AB, Ericsson AB, + Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Huawei Technologies Co. LTD., + Koninklijke Philips N.V., Nippon Telegraph and Telephone Corporation, Nokia Technologies Oy, Orange, + Panasonic Holdings Corporation, Qualcomm Technologies, Inc., VoiceAge Corporation, and other + contributors to this repository. All Rights Reserved. + + This software is protected by copyright law and by international treaties. + The IVAS codec Public Collaboration consisting of Dolby International AB, Ericsson AB, + Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Huawei Technologies Co. LTD., + Koninklijke Philips N.V., Nippon Telegraph and Telephone Corporation, Nokia Technologies Oy, Orange, + Panasonic Holdings Corporation, Qualcomm Technologies, Inc., VoiceAge Corporation, and other + contributors to this repository retain full ownership rights in their respective contributions in + the software. This notice grants no license of any kind, including but not limited to patent + license, nor is any license granted by implication, estoppel or otherwise. + + Contributors are required to enter into the IVAS codec Public Collaboration agreement before making + contributions. + + This software is provided "AS IS", without any express or implied warranties. The software is in the + development stage. It is intended exclusively for experts who have experience with such software and + solely for the purpose of inspection. All implied warranties of non-infringement, merchantability + and fitness for a particular purpose are hereby disclaimed and excluded. + + Any dispute, controversy or claim arising under or in relation to providing this software shall be + submitted to and settled by the final, binding jurisdiction of the courts of Munich, Germany in + accordance with the laws of the Federal Republic of Germany excluding its conflict of law rules and + the United Nations Convention on Contracts on the International Sales of Goods. + +*******************************************************************************************************/ + +#include "cldfb_ring_buffer.h" +#include "cnst.h" +#include "prot.h" +#include "ivas_error_utils.h" +#include +#include +#include + +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + +struct CldfbRingBuf +{ + float *real; + float *imag; + uint32_t capacity; + uint32_t write_pos; + uint32_t read_pos; + int16_t is_full; +}; + +ivas_error CLDFB_RINGBUF_Open( CLDFB_RINGBUF_HANDLE *ph, int16_t capacity_columns ) +{ + CLDFB_RINGBUF_HANDLE h; + int32_t capacity; + capacity = capacity_columns * CLDFB_NO_CHANNELS_MAX; + + if ( ( h = malloc( sizeof( struct CldfbRingBuf ) ) ) == NULL ) + { + return IVAS_ERROR( IVAS_ERR_FAILED_ALLOC, "Failed to allocate memory for CLDFB ring buffer\n" ); + } + h->real = NULL; + h->imag = NULL; + h->capacity = 0; + h->write_pos = 0; + h->read_pos = 0; + h->is_full = 0; + *ph = h; + + if ( ( h->real = malloc( capacity * sizeof( float ) ) ) == NULL ) + { + return IVAS_ERROR( IVAS_ERR_FAILED_ALLOC, "Failed to allocate memory for CLDFB ring buffer\n" ); + } + if ( ( h->imag = malloc( capacity * sizeof( float ) ) ) == NULL ) + { + return IVAS_ERROR( IVAS_ERR_FAILED_ALLOC, "Failed to allocate memory for CLDFB ring buffer\n" ); + } + h->capacity = capacity; + + return IVAS_ERR_OK; +} + +void CLDFB_RINGBUF_Close( CLDFB_RINGBUF_HANDLE *ph ) +{ + CLDFB_RINGBUF_HANDLE h; + + if ( ph == NULL ) + { + return; + } + h = *ph; + + if ( h == NULL ) + { + return; + } + + if ( h->real != NULL ) + { + free( h->real ); + } + if ( h->imag != NULL ) + { + free( h->imag ); + } + + free( h ); + *ph = NULL; + + return; +} + +void CLDFB_RINGBUF_Push( CLDFB_RINGBUF_HANDLE h, const float *real, const float *imag, uint16_t num_bands ) +{ + assert( num_bands <= CLDFB_NO_CHANNELS_MAX ); + assert( !CLDFB_RINGBUF_IsFull( h ) ); + + mvr2r( real, &h->real[h->write_pos], (int16_t) num_bands ); + mvr2r( imag, &h->imag[h->write_pos], (int16_t) num_bands ); + + h->write_pos += CLDFB_NO_CHANNELS_MAX; + if ( h->write_pos == h->capacity ) + { + h->write_pos = 0; + } + + if ( h->read_pos == h->write_pos ) + { + h->is_full = 1; + } + + return; +} + +void CLDFB_RINGBUF_Pop( CLDFB_RINGBUF_HANDLE h, float *real, float *imag, uint16_t num_bands ) +{ + assert( num_bands <= CLDFB_NO_CHANNELS_MAX ); + assert( !CLDFB_RINGBUF_IsEmpty( h ) ); + + if ( real != NULL ) + { + mvr2r( &h->real[h->read_pos], real, (int16_t) num_bands ); + } + if ( imag != NULL ) + { + mvr2r( &h->imag[h->read_pos], imag, (int16_t) num_bands ); + } + + h->read_pos += CLDFB_NO_CHANNELS_MAX; + if ( h->read_pos == h->capacity ) + { + h->read_pos = 0; + } + + h->is_full = 0; + + return; +} + +/* Returns total number of buffered samples (including number of channels) */ +static uint32_t total_size( CLDFB_RINGBUF_HANDLE h ) +{ + if ( CLDFB_RINGBUF_IsFull( h ) ) + { + return h->capacity; + } + + if ( h->read_pos <= h->write_pos ) + { + return h->write_pos - h->read_pos; + } + /* else wrap around */ + return h->write_pos + h->capacity - h->read_pos; +} + +void CLDFB_RINGBUF_GetByIdx( CLDFB_RINGBUF_HANDLE h, float **p_real, float **p_imag, int16_t col_idx ) +{ + int32_t idx = col_idx * CLDFB_NO_CHANNELS_MAX; + int32_t num_floats = (int32_t) total_size( h ); + uint32_t offset, uidx; + + assert( -num_floats <= idx && idx <= num_floats ); + + if ( idx >= 0 ) + { + offset = h->read_pos + idx; + if ( h->capacity <= offset ) + { + offset -= h->capacity; + } + } + else + { + uidx = (uint32_t) -idx; + if ( uidx <= h->write_pos ) + { + offset = h->write_pos - uidx; + } + else + { + offset = h->write_pos + h->capacity - uidx; + } + } + + *p_real = &h->real[offset]; + *p_imag = &h->imag[offset]; +} + +int16_t CLDFB_RINGBUF_IsEmpty( CLDFB_RINGBUF_HANDLE h ) +{ + return (int16_t) ( h->read_pos == h->write_pos && !h->is_full ); +} + +int16_t CLDFB_RINGBUF_IsFull( CLDFB_RINGBUF_HANDLE h ) +{ + return h->is_full; +} + +uint16_t CLDFB_RINGBUF_Size( CLDFB_RINGBUF_HANDLE h ) +{ + return (uint16_t) ( total_size( h ) / CLDFB_NO_CHANNELS_MAX ); +} + +#endif diff --git a/lib_dec/cldfb_ring_buffer.h b/lib_dec/cldfb_ring_buffer.h new file mode 100644 index 0000000000000000000000000000000000000000..68143bdfa047e7c37dca1e5f18c9ad8574754a02 --- /dev/null +++ b/lib_dec/cldfb_ring_buffer.h @@ -0,0 +1,108 @@ +/****************************************************************************************************** + + (C) 2022-2025 IVAS codec Public Collaboration with portions copyright Dolby International AB, Ericsson AB, + Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Huawei Technologies Co. LTD., + Koninklijke Philips N.V., Nippon Telegraph and Telephone Corporation, Nokia Technologies Oy, Orange, + Panasonic Holdings Corporation, Qualcomm Technologies, Inc., VoiceAge Corporation, and other + contributors to this repository. All Rights Reserved. + + This software is protected by copyright law and by international treaties. + The IVAS codec Public Collaboration consisting of Dolby International AB, Ericsson AB, + Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Huawei Technologies Co. LTD., + Koninklijke Philips N.V., Nippon Telegraph and Telephone Corporation, Nokia Technologies Oy, Orange, + Panasonic Holdings Corporation, Qualcomm Technologies, Inc., VoiceAge Corporation, and other + contributors to this repository retain full ownership rights in their respective contributions in + the software. This notice grants no license of any kind, including but not limited to patent + license, nor is any license granted by implication, estoppel or otherwise. + + Contributors are required to enter into the IVAS codec Public Collaboration agreement before making + contributions. + + This software is provided "AS IS", without any express or implied warranties. The software is in the + development stage. It is intended exclusively for experts who have experience with such software and + solely for the purpose of inspection. All implied warranties of non-infringement, merchantability + and fitness for a particular purpose are hereby disclaimed and excluded. + + Any dispute, controversy or claim arising under or in relation to providing this software shall be + submitted to and settled by the final, binding jurisdiction of the courts of Munich, Germany in + accordance with the laws of the Federal Republic of Germany excluding its conflict of law rules and + the United Nations Convention on Contracts on the International Sales of Goods. + +*******************************************************************************************************/ + +#ifndef CLDFB_RING_BUFFER_H +#define CLDFB_RING_BUFFER_H + +#include "ivas_error.h" +#include + +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + +typedef struct CldfbRingBuf *CLDFB_RINGBUF_HANDLE; + +/*---------------------------------------------------------------------* + * CLDFB_RINGBUF_Open() + * + * Allocate a ring buffer for CLDFB data with the given capacity of CLDFB columns. + * Each column is expected to contain at most CLDFB_NO_CHANNELS_MAX frequency bands. + * + * May return IVAS_ERR_FAILED_ALLOC on failed allocation, or IVAS_ERR_OK otherwise. + *---------------------------------------------------------------------*/ +ivas_error CLDFB_RINGBUF_Open( CLDFB_RINGBUF_HANDLE *ph, int16_t capacity_columns ); + +/*---------------------------------------------------------------------* + * CLDFB_RINGBUF_Close() + * + * Dellocate CLDFB ring buffer. The given handle will be set to NULL. + *---------------------------------------------------------------------*/ +void CLDFB_RINGBUF_Close( CLDFB_RINGBUF_HANDLE *ph ); + +/*---------------------------------------------------------------------* + * CLDFB_RINGBUF_Push() + * + * Push a single column onto the back of the CLDFB ring buffer from real and imag arrays. + *---------------------------------------------------------------------*/ +void CLDFB_RINGBUF_Push( CLDFB_RINGBUF_HANDLE h, const float *real, const float *imag, uint16_t num_bands ); + +/*---------------------------------------------------------------------* + * CLDFB_RINGBUF_Pop() + * + * Pop a single column from the front of the CLDFB ring buffer into real and imag arrays. + *---------------------------------------------------------------------*/ +void CLDFB_RINGBUF_Pop( CLDFB_RINGBUF_HANDLE h, float *real, float *imag, uint16_t num_bands ); + +/*---------------------------------------------------------------------* + * CLDFB_RINGBUF_GetByIdx() + * + * Get pointers into a specific column in the CLDFB ring buffer based on given index. + * Non-negative indices access from the front of the ring buffer, negative indexes access + * from the back, similar to Python arrays. For example: + * + * - index 0 accesses the front of the buffer, i.e. the oldest CLDFB column in the queue. + * - index -1 accesses the back of the buffer, i.e. the newest (last pushed) CLDFB column in the queue. + *---------------------------------------------------------------------*/ +void CLDFB_RINGBUF_GetByIdx( CLDFB_RINGBUF_HANDLE h, float **p_real, float **p_imag, int16_t idx ); + +/*---------------------------------------------------------------------* + * CLDFB_RINGBUF_IsEmpty() + * + * Returns 1 if the ring buffer is empty, or 0 otherwise. + *---------------------------------------------------------------------*/ +int16_t CLDFB_RINGBUF_IsEmpty( CLDFB_RINGBUF_HANDLE h ); + +/*---------------------------------------------------------------------* + * CLDFB_RINGBUF_IsFull() + * + * Returns 1 if the ring buffer is full, or 0 otherwise. + *---------------------------------------------------------------------*/ +int16_t CLDFB_RINGBUF_IsFull( CLDFB_RINGBUF_HANDLE h ); + +/*---------------------------------------------------------------------* + * CLDFB_RINGBUF_Size() + * + * Returns the number of CLDFB columns currently stored in the ring buffer. + *---------------------------------------------------------------------*/ +uint16_t CLDFB_RINGBUF_Size( CLDFB_RINGBUF_HANDLE h ); + +#endif /* FIX_1119_SPLIT_RENDERING_VOIP */ +#endif diff --git a/lib_dec/ivas_dirac_dec.c b/lib_dec/ivas_dirac_dec.c index 88141656c84a071de48ceba2cf6d07a15bcdf32b..0ea8d67a6a71040e7ab3175d117ed9eb96020c02 100644 --- a/lib_dec/ivas_dirac_dec.c +++ b/lib_dec/ivas_dirac_dec.c @@ -1637,7 +1637,9 @@ static void binRenderer_split( float Cldfb_ImagBuffer_Binaural[][BINAURAL_CHANNELS][MAX_PARAM_SPATIAL_SUBFRAMES][CLDFB_NO_CHANNELS_MAX], /* o : Rotated Binaural signals */ float RealBuffer[][MAX_PARAM_SPATIAL_SUBFRAMES][CLDFB_NO_CHANNELS_MAX], /* i : LS signals */ float ImagBuffer[][MAX_PARAM_SPATIAL_SUBFRAMES][CLDFB_NO_CHANNELS_MAX], /* i : LS signals */ +#ifndef FIX_1119_SPLIT_RENDERING_VOIP const int16_t slot_idx_start, +#endif const int16_t num_freq_bands, const int16_t nchan_out ) { @@ -1667,8 +1669,16 @@ static void binRenderer_split( { for ( ch = 0; ch < nchan_out; ch++ ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + CLDFB_RINGBUF_Push( + hSplitBinRend->hMultiBinCldfbData[pos_idx * BINAURAL_CHANNELS + ch], + Cldfb_RealBuffer_Binaural_loc[pos_idx][ch][slot_idx], + Cldfb_ImagBuffer_Binaural_loc[pos_idx][ch][slot_idx], + num_freq_bands ); +#else mvr2r( Cldfb_RealBuffer_Binaural_loc[pos_idx][ch][slot_idx], hSplitBinRend->hMultiBinCldfbData->Cldfb_RealBuffer_Binaural[( pos_idx * BINAURAL_CHANNELS ) + ch][slot_idx_start + slot_idx], num_freq_bands ); mvr2r( Cldfb_ImagBuffer_Binaural_loc[pos_idx][ch][slot_idx], hSplitBinRend->hMultiBinCldfbData->Cldfb_ImagBuffer_Binaural[( pos_idx * BINAURAL_CHANNELS ) + ch][slot_idx_start + slot_idx], num_freq_bands ); +#endif } } } @@ -2389,7 +2399,11 @@ void ivas_dirac_dec_render_sf( if ( st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_CODED || st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) { binRenderer_split( st_ivas->hBinRenderer, st_ivas->hSplitBinRend, st_ivas->hCombinedOrientationData, hSpatParamRendCom->subframe_nbslots[subframe_idx], - Cldfb_RealBuffer_Binaural, Cldfb_ImagBuffer_Binaural, Cldfb_RealBuffer, Cldfb_ImagBuffer, slot_idx_start, hSpatParamRendCom->num_freq_bands, st_ivas->hDecoderConfig->nchan_out ); + Cldfb_RealBuffer_Binaural, Cldfb_ImagBuffer_Binaural, Cldfb_RealBuffer, Cldfb_ImagBuffer, +#ifndef FIX_1119_SPLIT_RENDERING_VOIP + slot_idx_start, +#endif + hSpatParamRendCom->num_freq_bands, st_ivas->hDecoderConfig->nchan_out ); } else { diff --git a/lib_dec/ivas_init_dec.c b/lib_dec/ivas_init_dec.c index 2c2f814ab88b811d47b6fe7f01dfddf3b901f8de..89416ab404d6e0114f6b08587cf52b3d42dc653d 100644 --- a/lib_dec/ivas_init_dec.c +++ b/lib_dec/ivas_init_dec.c @@ -1234,6 +1234,10 @@ ivas_error ivas_init_decoder_front( } } +#ifdef TMP_1342_WORKAROUND_DEC_FLUSH_BROKEN_IN_SR + st_ivas->flushing = 0; +#endif + return error; } diff --git a/lib_dec/ivas_jbm_dec.c b/lib_dec/ivas_jbm_dec.c index e30f5aebebdd90c9d04b763b2d29e55dd752505f..5b8668c6d37e6b08f00804a946bb012b68c0d270 100644 --- a/lib_dec/ivas_jbm_dec.c +++ b/lib_dec/ivas_jbm_dec.c @@ -1334,6 +1334,12 @@ ivas_error ivas_jbm_dec_render( if ( output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_CODED || output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) { nchan_out_syn_output = BINAURAL_CHANNELS * st_ivas->hSplitBinRend->splitrend.multiBinPoseData.num_poses; +#ifdef TMP_1342_WORKAROUND_DEC_FLUSH_BROKEN_IN_SR + if ( st_ivas->flushing ) + { + nchan_out_syn_output = BINAURAL_CHANNELS; + } +#endif } else { diff --git a/lib_dec/ivas_mc_param_dec.c b/lib_dec/ivas_mc_param_dec.c index ed7c9fb0b4838961b52c6acc6fe3aa07d9931205..bb013b8d78946487a4d910c59aa7a5f323d3bbb2 100644 --- a/lib_dec/ivas_mc_param_dec.c +++ b/lib_dec/ivas_mc_param_dec.c @@ -1786,8 +1786,16 @@ void ivas_param_mc_dec_render( { for ( ch = 0; ch < nchan_out_cldfb; ch++ ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + CLDFB_RINGBUF_Push( + st_ivas->hSplitBinRend->hMultiBinCldfbData[pos_idx * BINAURAL_CHANNELS + ch], + Cldfb_RealBuffer_Binaural[pos_idx][ch][slot_idx], + Cldfb_ImagBuffer_Binaural[pos_idx][ch][slot_idx], + hParamMC->num_freq_bands ); +#else mvr2r( Cldfb_RealBuffer_Binaural[pos_idx][ch][slot_idx], st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_RealBuffer_Binaural[( pos_idx * BINAURAL_CHANNELS ) + ch][slot_idx_start + slot_idx], hParamMC->num_freq_bands ); mvr2r( Cldfb_ImagBuffer_Binaural[pos_idx][ch][slot_idx], st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_ImagBuffer_Binaural[( pos_idx * BINAURAL_CHANNELS ) + ch][slot_idx_start + slot_idx], hParamMC->num_freq_bands ); +#endif } } } diff --git a/lib_dec/ivas_mc_paramupmix_dec.c b/lib_dec/ivas_mc_paramupmix_dec.c index 5753d262a078261ae49ea0abb9c6247a1ce377d0..1cd2490b0e241363da1e72561551eb566538f75f 100644 --- a/lib_dec/ivas_mc_paramupmix_dec.c +++ b/lib_dec/ivas_mc_paramupmix_dec.c @@ -791,8 +791,16 @@ static void ivas_mc_paramupmix_dec_sf( { for ( ch = 0; ch < st_ivas->hDecoderConfig->nchan_out; ch++ ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + CLDFB_RINGBUF_Push( + st_ivas->hSplitBinRend->hMultiBinCldfbData[pos_idx * BINAURAL_CHANNELS + ch], + Cldfb_RealBuffer_Binaural[pos_idx][ch][slot_idx], + Cldfb_ImagBuffer_Binaural[pos_idx][ch][slot_idx], + maxBand ); +#else mvr2r( Cldfb_RealBuffer_Binaural[pos_idx][ch][slot_idx], st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_RealBuffer_Binaural[( pos_idx * BINAURAL_CHANNELS ) + ch][slot_index_start + slot_idx], maxBand ); mvr2r( Cldfb_ImagBuffer_Binaural[pos_idx][ch][slot_idx], st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_ImagBuffer_Binaural[( pos_idx * BINAURAL_CHANNELS ) + ch][slot_index_start + slot_idx], maxBand ); +#endif } } } diff --git a/lib_dec/ivas_omasa_dec.c b/lib_dec/ivas_omasa_dec.c index 279dfe6931b02269e831481f7b4341d9e3bd8b81..ec33f6a114df70a81d4086fa682180fbefca275b 100644 --- a/lib_dec/ivas_omasa_dec.c +++ b/lib_dec/ivas_omasa_dec.c @@ -744,9 +744,13 @@ ivas_error ivas_omasa_dirac_td_binaural_jbm( float data_separated_objects[BINAURAL_CHANNELS][L_FRAME48k]; ivas_error error; float *p_sepobj[BINAURAL_CHANNELS]; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *re, *im; +#else int16_t slot_idx_start; slot_idx_start = st_ivas->hSpatParamRendCom->slots_rendered; +#endif for ( n = 0; n < BINAURAL_CHANNELS; n++ ) { @@ -788,8 +792,14 @@ ivas_error ivas_omasa_dirac_td_binaural_jbm( cldfbAnalysis_ts( &( p_rend_obj[n][num_cldfb_bands * slot_idx] ), Cldfb_RealBuffer, Cldfb_ImagBuffer, num_cldfb_bands, st_ivas->hSplitBinRend->splitrend.hCldfbHandles->cldfbAna[n] ); /* note: this intentionally differs from OSBA by: no scaling by 0.5 */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + CLDFB_RINGBUF_GetByIdx( st_ivas->hSplitBinRend->hMultiBinCldfbData[n], &re, &im, slot_idx - cldfb_slots ); + v_add( re, Cldfb_RealBuffer, re, num_cldfb_bands ); + v_add( im, Cldfb_ImagBuffer, im, num_cldfb_bands ); +#else v_add( st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_RealBuffer_Binaural[n][slot_idx_start + slot_idx], Cldfb_RealBuffer, st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_RealBuffer_Binaural[n][slot_idx_start + slot_idx], num_cldfb_bands ); v_add( st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_ImagBuffer_Binaural[n][slot_idx_start + slot_idx], Cldfb_ImagBuffer, st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_ImagBuffer_Binaural[n][slot_idx_start + slot_idx], num_cldfb_bands ); +#endif } } } diff --git a/lib_dec/ivas_osba_dec.c b/lib_dec/ivas_osba_dec.c index 8f790bde916f0edd19d915d85d3694905b437287..e9bf8a388418b9d0e8adde6e6776cdb93ab2fce7 100644 --- a/lib_dec/ivas_osba_dec.c +++ b/lib_dec/ivas_osba_dec.c @@ -137,9 +137,13 @@ ivas_error ivas_osba_dirac_td_binaural_jbm( float output_separated_objects[BINAURAL_CHANNELS][L_FRAME48k]; float *p_sepobj[BINAURAL_CHANNELS]; int16_t channel_offset; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *re, *im; +#else int16_t slot_idx_start; slot_idx_start = st_ivas->hSpatParamRendCom->slots_rendered; +#endif for ( n = 0; n < BINAURAL_CHANNELS; n++ ) { @@ -157,7 +161,10 @@ ivas_error ivas_osba_dirac_td_binaural_jbm( if ( st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_CODED || st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) { - int16_t slot_idx, num_cldfb_bands, b, nchan_transport_orig; + int16_t slot_idx, num_cldfb_bands, nchan_transport_orig; +#ifndef FIX_1119_SPLIT_RENDERING_VOIP + int16_t b; +#endif int16_t cldfb_slots; float Cldfb_RealBuffer[CLDFB_NO_CHANNELS_MAX]; float Cldfb_ImagBuffer[CLDFB_NO_CHANNELS_MAX]; @@ -180,6 +187,11 @@ ivas_error ivas_osba_dirac_td_binaural_jbm( { cldfbAnalysis_ts( &( output_f[n][num_cldfb_bands * slot_idx] ), Cldfb_RealBuffer, Cldfb_ImagBuffer, num_cldfb_bands, st_ivas->hSplitBinRend->splitrend.hCldfbHandles->cldfbAna[n] ); +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + CLDFB_RINGBUF_GetByIdx( st_ivas->hSplitBinRend->hMultiBinCldfbData[n], &re, &im, slot_idx - cldfb_slots ); + v_add( re, Cldfb_RealBuffer, re, num_cldfb_bands ); + v_add( im, Cldfb_ImagBuffer, im, num_cldfb_bands ); +#else for ( b = 0; b < num_cldfb_bands; b++ ) { st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_RealBuffer_Binaural[n][slot_idx_start + slot_idx][b] = @@ -189,6 +201,7 @@ ivas_error ivas_osba_dirac_td_binaural_jbm( st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_ImagBuffer_Binaural[n][slot_idx_start + slot_idx][b] + Cldfb_ImagBuffer[b]; } +#endif } } } diff --git a/lib_dec/ivas_output_config.c b/lib_dec/ivas_output_config.c index b0acefc17eb7815e28206ff7495a974e839a323f..b74d2b6d8e8f0a069ad4a2aaf9a51af59f9c6ebf 100644 --- a/lib_dec/ivas_output_config.c +++ b/lib_dec/ivas_output_config.c @@ -499,11 +499,21 @@ RENDERER_TYPE ivas_renderer_secondary_select( renderer_type = RENDERER_DISABLE; output_config = st_ivas->hDecoderConfig->output_config; - if ( st_ivas->ivas_format == MASA_ISM_FORMAT && st_ivas->ism_mode == ISM_MASA_MODE_DISC && output_config == IVAS_AUDIO_CONFIG_BINAURAL ) + if ( st_ivas->ivas_format == MASA_ISM_FORMAT && st_ivas->ism_mode == ISM_MASA_MODE_DISC && +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + ( output_config == IVAS_AUDIO_CONFIG_BINAURAL || output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_CODED || output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) +#else + output_config == IVAS_AUDIO_CONFIG_BINAURAL +#endif + ) { renderer_type = RENDERER_BINAURAL_OBJECTS_TD; } - else if ( st_ivas->ivas_format == SBA_ISM_FORMAT && st_ivas->ism_mode == ISM_SBA_MODE_DISC && ( output_config == IVAS_AUDIO_CONFIG_BINAURAL || output_config == IVAS_AUDIO_CONFIG_BINAURAL_ROOM_REVERB ) ) + else if ( st_ivas->ivas_format == SBA_ISM_FORMAT && st_ivas->ism_mode == ISM_SBA_MODE_DISC && ( output_config == IVAS_AUDIO_CONFIG_BINAURAL || output_config == IVAS_AUDIO_CONFIG_BINAURAL_ROOM_REVERB +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + || output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_CODED || output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM +#endif + ) ) { renderer_type = RENDERER_BINAURAL_OBJECTS_TD; } diff --git a/lib_dec/ivas_stat_dec.h b/lib_dec/ivas_stat_dec.h index 0f0ad4cedba35a0529c345d40c95669a80fb8a85..70e07c577d280aa520fdfd69fe8f36b0c2e1a7dc 100644 --- a/lib_dec/ivas_stat_dec.h +++ b/lib_dec/ivas_stat_dec.h @@ -40,6 +40,9 @@ #include "stat_dec.h" #include "ivas_stat_com.h" #include "ivas_stat_rend.h" +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +#include "cldfb_ring_buffer.h" +#endif /*----------------------------------------------------------------------------------* @@ -821,25 +824,37 @@ typedef struct renderer_struct * IVAS decoder specific ISAR wrapper structures *----------------------------------------------------------------------------------*/ +#ifndef FIX_1119_SPLIT_RENDERING_VOIP typedef struct { float Cldfb_RealBuffer_Binaural[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX]; float Cldfb_ImagBuffer_Binaural[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX]; } ISAR_DEC_SPLIT_REND_MULTI_BIN_CLDFB_DATA, *ISAR_DEC_SPLIT_REND_MULTI_BIN_CLDFB_DATA_HANDLE; +#endif typedef struct { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float Cldfb_RealBuffer[MAX_OUTPUT_CHANNELS][2 * CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX]; /* Double space to account for TSM */ + float Cldfb_ImagBuffer[MAX_OUTPUT_CHANNELS][2 * CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX]; +#else float Cldfb_RealBuffer[MAX_OUTPUT_CHANNELS][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX]; float Cldfb_ImagBuffer[MAX_OUTPUT_CHANNELS][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX]; +#endif IVAS_AUDIO_CONFIG config; } ISAR_DEC_SPLIT_REND_CLDFB_OUT_DATA, *ISAR_DEC_SPLIT_REND_CLDFB_OUT_DATA_HANDLE; typedef struct { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + TD_RINGBUF_HANDLE hMultiBinTdData; + CLDFB_RINGBUF_HANDLE hMultiBinCldfbData[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS]; +#else ISAR_DEC_SPLIT_REND_MULTI_BIN_CLDFB_DATA_HANDLE hMultiBinCldfbData; /*scratch buffer for frame by frame processing*/ - ISAR_SPLIT_REND_BITS_HANDLE hSplitRendBits; /*scratch buffer for frame by frame processing*/ +#endif + ISAR_SPLIT_REND_BITS_HANDLE hSplitRendBits; /*scratch buffer for frame by frame processing*/ SPLIT_REND_WRAPPER splitrend; ISAR_DEC_SPLIT_REND_CLDFB_OUT_DATA_HANDLE hCldfbDataOut; /*buffer to store cldfb data before binauralization*/ int16_t numTdSamplesPerChannelCached; @@ -1136,6 +1151,10 @@ typedef struct Decoder_Struct int16_t ism_extmeta_active; /* Extended metadata active in decoder */ int16_t ism_extmeta_cnt; /* Change frame counter for extended metadata */ +#ifdef TMP_1342_WORKAROUND_DEC_FLUSH_BROKEN_IN_SR + int16_t flushing; +#endif + } Decoder_Struct; /* clang-format on */ diff --git a/lib_dec/lib_dec.c b/lib_dec/lib_dec.c index 41feeafec2cb0add778f6379f96d2170430007a7..11c645bd08476b71aa899e4058888fe89f015e8f 100644 --- a/lib_dec/lib_dec.c +++ b/lib_dec/lib_dec.c @@ -114,7 +114,11 @@ static void store_JbmData( IVAS_DEC_VOIP *hVoIP, JB4_DATAUNIT_HANDLE dataUnit, c static ivas_error evs_dec_main( Decoder_Struct *st_ivas ); static ivas_error input_format_API_to_internal( IVAS_DEC_INPUT_FORMAT input_format, int16_t *bitstream_format_internal, int16_t *sdp_hf_only, const bool is_voip_enabled ); static void init_decoder_config( DECODER_CONFIG_HANDLE hDecoderConfig ); -static ivas_error ivas_dec_setup_all( IVAS_DEC_HANDLE hIvasDec, uint8_t *nTransportChannels, const int16_t isSplitRend, ISAR_SPLIT_REND_BITS_DATA *splitRendBits ); +static ivas_error ivas_dec_setup_all( IVAS_DEC_HANDLE hIvasDec, uint8_t *nTransportChannels, +#ifndef FIX_1119_SPLIT_RENDERING_VOIP + const int16_t isSplitRend, +#endif + ISAR_SPLIT_REND_BITS_DATA *splitRendBits ); static ivas_error apa_setup( IVAS_DEC_HANDLE hIvasDec, const bool isInitialized_voip, const uint16_t nTransportChannels ); static PCM_RESOLUTION pcm_type_API_to_internal( const IVAS_DEC_PCM_TYPE pcmType ); static void *pcm_buffer_offset( void *buffer, const IVAS_DEC_PCM_TYPE pcmType, const int32_t offset ); @@ -125,6 +129,10 @@ static ivas_error ivas_dec_init_split_rend( Decoder_Struct *st_ivas ); static ivas_error ivas_create_handle_isar( ISAR_DEC_SPLIT_REND_WRAPPER_HANDLE *hSplitBinRend_out ); static void ivas_destroy_handle_isar( ISAR_DEC_SPLIT_REND_WRAPPER_HANDLE *hSplitBinRend_out ); static int16_t get_render_frame_size_ms( IVAS_RENDER_FRAMESIZE render_framesize ); +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +static int16_t get_render_frame_size_samples( Decoder_Struct *st_ivas ); +static int16_t ivas_dec_split_rend_cldfb_in( Decoder_Struct *st_ivas ); +#endif static void update_voip_rendered20ms( IVAS_DEC_HANDLE hIvasDec, const int16_t nSamplesRendered ); @@ -633,6 +641,13 @@ ivas_error IVAS_DEC_GetRenderFramesize( return IVAS_ERR_OK; } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +static int16_t get_render_frame_size_samples( Decoder_Struct *st_ivas ) +{ + return (int16_t) ( st_ivas->hDecoderConfig->output_Fs * st_ivas->hDecoderConfig->render_framesize / ( FRAMES_PER_SEC * IVAS_MAX_PARAM_SPATIAL_SUBFRAMES ) ); +} +#endif + /*---------------------------------------------------------------------* * IVAS_DEC_GetGetRenderFramesizeSamples( ) * @@ -649,7 +664,11 @@ ivas_error IVAS_DEC_GetRenderFramesizeSamples( return IVAS_ERR_UNEXPECTED_NULL_POINTER; } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + *render_framesize = get_render_frame_size_samples( hIvasDec->st_ivas ); +#else *render_framesize = (int16_t) ( hIvasDec->st_ivas->hDecoderConfig->output_Fs * hIvasDec->st_ivas->hDecoderConfig->render_framesize / ( FRAMES_PER_SEC * IVAS_MAX_PARAM_SPATIAL_SUBFRAMES ) ); +#endif return IVAS_ERR_OK; } @@ -1111,8 +1130,10 @@ ivas_error IVAS_DEC_ReadFormat( *---------------------------------------------------------------------*/ ivas_error IVAS_DEC_GetSamplesDecoder( - IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ - const int16_t isSplitRend, /* i : split rendering enabled flag */ + IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ +#ifndef FIX_1119_SPLIT_RENDERING_VOIP + const int16_t isSplitRend, /* i : split rendering enabled flag */ +#endif ISAR_SPLIT_REND_BITS_DATA *splitRendBits /* o : output split rendering bits */ ) { @@ -1143,7 +1164,11 @@ ivas_error IVAS_DEC_GetSamplesDecoder( * Setup all decoder parts (IVAS decoder, ISAR) *-----------------------------------------------------------------*/ - if ( ( error = ivas_dec_setup_all( hIvasDec, &nTransportChannels, isSplitRend, splitRendBits ) ) != IVAS_ERR_OK ) + if ( ( error = ivas_dec_setup_all( hIvasDec, &nTransportChannels, +#ifndef FIX_1119_SPLIT_RENDERING_VOIP + isSplitRend, +#endif + splitRendBits ) ) != IVAS_ERR_OK ) { return error; } @@ -1832,6 +1857,178 @@ ivas_error IVAS_DEC_GetSamplesRenderer( } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +static int16_t isar_get_frame_size( + Decoder_Struct *st_ivas ) +{ + int32_t output_Fs; + int16_t nSamplesPerChannel; + output_Fs = st_ivas->hDecoderConfig->output_Fs; + + if ( st_ivas->hDecoderConfig->render_framesize != IVAS_RENDER_FRAMESIZE_20MS && + ( st_ivas->hRenderConfig->split_rend_config.poseCorrectionMode == ISAR_SPLIT_REND_POSE_CORRECTION_MODE_NONE || + st_ivas->hRenderConfig->split_rend_config.dof == 0 ) ) + { + nSamplesPerChannel = (int16_t) ( output_Fs / FRAMES_PER_SEC / MAX_PARAM_SPATIAL_SUBFRAMES ); + nSamplesPerChannel *= (int16_t) st_ivas->hDecoderConfig->render_framesize; + } + else + { + nSamplesPerChannel = (int16_t) ( output_Fs / FRAMES_PER_SEC ); + } + + return nSamplesPerChannel; +} + +static ivas_error isar_render_poses( + IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ + const int16_t nSamplesAsked, /* i : number of samples wanted by the caller */ + int16_t *nOutSamples, /* o : number of samples per channel written to output buffer */ + bool *needNewFrame /* o : indication that the decoder needs a new frame */ +) +{ + Decoder_Struct *st_ivas; + float pcmBuf[BINAURAL_CHANNELS * MAX_HEAD_ROT_POSES * L_FRAME48k]; + ivas_error error; + ISAR_DEC_SPLIT_REND_WRAPPER_HANDLE hSplitBinRend; + int16_t numPoses; + + error = IVAS_ERR_OK; + st_ivas = hIvasDec->st_ivas; + *needNewFrame = false; + hSplitBinRend = st_ivas->hSplitBinRend; + + numPoses = hSplitBinRend->splitrend.multiBinPoseData.num_poses; + + /* init flush buffer for rate switch if not already initizalized */ + if ( hIvasDec->flushbuffer == NULL ) + { + hIvasDec->flushbuffer = (void *) malloc( numPoses * BINAURAL_CHANNELS * hIvasDec->nSamplesFrame / IVAS_MAX_PARAM_SPATIAL_SUBFRAMES * sizeof( float ) ); + if ( hIvasDec->flushbuffer == NULL ) + { + return IVAS_ERROR( IVAS_ERR_FAILED_ALLOC, "Could not allocate flush buffer" ); + } + hIvasDec->pcmType = IVAS_DEC_PCM_FLOAT; + set_zero( (float *) hIvasDec->flushbuffer, numPoses * BINAURAL_CHANNELS * hIvasDec->nSamplesFrame / IVAS_MAX_PARAM_SPATIAL_SUBFRAMES ); + } + + /* render */ + if ( ( error = IVAS_DEC_GetSamplesRenderer( hIvasDec, nSamplesAsked, IVAS_DEC_PCM_FLOAT, pcmBuf, nOutSamples, needNewFrame ) ) != IVAS_ERR_OK ) + { + return error; + } + if ( !hIvasDec->hasBeenFedFirstGoodFrame ) + { + return IVAS_ERR_OK; + } + + if ( !ivas_dec_split_rend_cldfb_in( st_ivas ) ) + { + ivas_TD_RINGBUF_PushInterleaved( hIvasDec->st_ivas->hSplitBinRend->hMultiBinTdData, pcmBuf, *nOutSamples ); + } + + return error; +} + +static ivas_error isar_generate_metadata_and_bitstream( + IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ + float **p_head_pose_buf, + ISAR_SPLIT_REND_BITS_DATA *splitRendBits /* o : output split rendering bits */ +) +{ + Decoder_Struct *st_ivas; + AUDIO_CONFIG output_config; + int32_t output_Fs; + ivas_error error; + ISAR_DEC_SPLIT_REND_WRAPPER_HANDLE hSplitBinRend; + int16_t max_band; + int16_t pcm_out_flag; + int16_t td_input; + int16_t ro_md_flag; + IVAS_QUATERNION Quaternion; + int16_t i, j, num_poses, num_cldfb_slots; + float *p_Cldfb_RealBuffer_Binaural[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS][CLDFB_NO_COL_MAX]; + float *p_Cldfb_ImagBuffer_Binaural[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS][CLDFB_NO_COL_MAX]; + + error = IVAS_ERR_OK; + st_ivas = hIvasDec->st_ivas; + output_config = st_ivas->hDecoderConfig->output_config; + output_Fs = st_ivas->hDecoderConfig->output_Fs; + hSplitBinRend = st_ivas->hSplitBinRend; + + max_band = (int16_t) ( ( BINAURAL_MAXBANDS * output_Fs ) / 48000 ); + pcm_out_flag = ( output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) ? 1 : 0; + td_input = st_ivas->renderer_type != RENDERER_BINAURAL_FASTCONV && st_ivas->renderer_type != RENDERER_BINAURAL_PARAMETRIC && st_ivas->renderer_type != RENDERER_BINAURAL_PARAMETRIC_ROOM && st_ivas->renderer_type != RENDERER_STEREO_PARAMETRIC; + + if ( !td_input ) + { + num_poses = hSplitBinRend->splitrend.multiBinPoseData.num_poses; + num_cldfb_slots = (int16_t) hIvasDec->st_ivas->hDecoderConfig->render_framesize * JBM_CLDFB_SLOTS_IN_SUBFRAME; + + for ( i = 0; i < (int16_t) ( BINAURAL_CHANNELS * num_poses ); ++i ) + { + for ( j = 0; j < num_cldfb_slots; ++j ) + { + /* Save pointers to first CLDFB column in the ring buffer. Allows us to save + * significant amounts of memory by not copying CLDFB values into a separate buffer. */ + CLDFB_RINGBUF_GetByIdx( + hSplitBinRend->hMultiBinCldfbData[i], + &p_Cldfb_RealBuffer_Binaural[i][j], + &p_Cldfb_ImagBuffer_Binaural[i][j], + 0 ); + /* Pop the CLDFB column we just saved pointers to. This is fine as long as we use + * the saved columns only before any new columns are pushed to the buffer - the new + * columns could potentially overwrite the old columns we wanted to use. + * This requirement is fulfilled in this case. */ + CLDFB_RINGBUF_Pop( + hSplitBinRend->hMultiBinCldfbData[i], + NULL, + NULL, + CLDFB_NO_CHANNELS_MAX ); + } + } + } + + if ( st_ivas->hBinRendererTd != NULL ) + { + ro_md_flag = 1; + } + else + { + ro_md_flag = 0; + } + + if ( st_ivas->hHeadTrackData != NULL ) + { + Quaternion = st_ivas->hHeadTrackData->Quaternions[0]; + } + else + { + Quaternion.w = -3.0f; + Quaternion.x = 0.0f; + Quaternion.y = 0.0f; + Quaternion.z = 0.0f; + } + + if ( ( error = ISAR_PRE_REND_MultiBinToSplitBinaural( &hSplitBinRend->splitrend, + Quaternion, + st_ivas->hRenderConfig->split_rend_config.splitRendBitRate, + st_ivas->hRenderConfig->split_rend_config.codec, + st_ivas->hRenderConfig->split_rend_config.isar_frame_size_ms, + st_ivas->hRenderConfig->split_rend_config.codec_frame_size_ms, + splitRendBits, + p_Cldfb_RealBuffer_Binaural, + p_Cldfb_ImagBuffer_Binaural, + max_band, p_head_pose_buf, 1, !td_input, pcm_out_flag, ro_md_flag ) ) != IVAS_ERR_OK ) + { + return error; + } + + return IVAS_ERR_OK; +} +#endif /* FIX_1119_SPLIT_RENDERING_VOIP */ + + /*---------------------------------------------------------------------* * IVAS_DEC_GetSplitBinauralBitstream( ) * @@ -1846,6 +2043,77 @@ ivas_error IVAS_DEC_GetSplitBinauralBitstream( bool *needNewFrame /* o : indication that the decoder needs a new frame */ ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + Decoder_Struct *st_ivas; + ivas_error error; + float head_pose_buf[BINAURAL_CHANNELS * MAX_HEAD_ROT_POSES][L_FRAME48k]; + float *p_head_pose_buf[BINAURAL_CHANNELS * MAX_HEAD_ROT_POSES]; + int32_t i; + int16_t pcm_out_flag; + int16_t numSamplesPerChannelToOutput; + + if ( hIvasDec == NULL || hIvasDec->st_ivas == NULL ) + { + return IVAS_ERR_UNEXPECTED_NULL_POINTER; + } + + error = IVAS_ERR_UNKNOWN; + st_ivas = hIvasDec->st_ivas; + + if ( is_split_rendering_enabled( st_ivas->hDecoderConfig, st_ivas->hRenderConfig ) == 0 ) + { + return IVAS_ERR_WRONG_PARAMS; + } + + pcm_out_flag = ( st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) ? 1 : 0; + numSamplesPerChannelToOutput = isar_get_frame_size( st_ivas ); + + error = isar_render_poses( hIvasDec, numSamplesPerChannelToOutput, nOutSamples, needNewFrame ); + if ( error != IVAS_ERR_OK ) + { + return error; + } + if ( !hIvasDec->hasBeenFedFirstGoodFrame ) + { + return IVAS_ERR_OK; + } + + for ( i = 0; i < BINAURAL_CHANNELS * MAX_HEAD_ROT_POSES; ++i ) + { + p_head_pose_buf[i] = head_pose_buf[i]; + } + + if ( !ivas_dec_split_rend_cldfb_in( st_ivas ) ) + { + ivas_TD_RINGBUF_PopChannels( hIvasDec->st_ivas->hSplitBinRend->hMultiBinTdData, p_head_pose_buf, *nOutSamples ); + } + + error = isar_generate_metadata_and_bitstream( hIvasDec, p_head_pose_buf, splitRendBits ); + if ( error != IVAS_ERR_OK ) + { + return error; + } + + /* convert to int16 with limiting for BINAURAL_SPLIT_PCM */ + if ( pcm_out_flag ) + { + if ( st_ivas->hDecoderConfig->render_framesize == IVAS_RENDER_FRAMESIZE_5MS ) + { +#ifndef DISABLE_LIMITER + ivas_limiter_dec( st_ivas->hLimiter, p_head_pose_buf, st_ivas->hDecoderConfig->nchan_out, numSamplesPerChannelToOutput, st_ivas->BER_detect ); +#endif + } + else + { + ivas_limiter_dec( st_ivas->hLimiter, p_head_pose_buf, st_ivas->hDecoderConfig->nchan_out, numSamplesPerChannelToOutput, st_ivas->BER_detect ); + } + +#ifdef DEBUGGING + st_ivas->noClipping += +#endif + ivas_syn_output( p_head_pose_buf, numSamplesPerChannelToOutput, st_ivas->hDecoderConfig->nchan_out, (int16_t *) pcmBuf_out ); + } +#else Decoder_Struct *st_ivas; AUDIO_CONFIG output_config; int32_t output_Fs; @@ -2032,6 +2300,7 @@ ivas_error IVAS_DEC_GetSplitBinauralBitstream( #endif ivas_syn_output( pOutput, numSamplesPerChannelToDecode, st_ivas->hDecoderConfig->nchan_out, (int16_t *) pcmBuf_out ); } +#endif return error; } @@ -2044,9 +2313,11 @@ ivas_error IVAS_DEC_GetSplitBinauralBitstream( *---------------------------------------------------------------------*/ static ivas_error ivas_dec_setup_all( - IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ - uint8_t *nTransportChannels, /* o : number of decoded transport PCM channels */ - const int16_t isSplitRend, /* i : split rendering enabled flag */ + IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ + uint8_t *nTransportChannels, /* o : number of decoded transport PCM channels */ +#ifndef FIX_1119_SPLIT_RENDERING_VOIP + const int16_t isSplitRend, /* i : split rendering enabled flag */ +#endif ISAR_SPLIT_REND_BITS_DATA *splitRendBits /* o : output split rendering bits */ ) { @@ -2070,7 +2341,11 @@ static ivas_error ivas_dec_setup_all( st_ivas = hIvasDec->st_ivas; /* Setup IVAS split rendering */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( splitRendBits != NULL ) +#else if ( isSplitRend ) +#endif { if ( ( error = isar_set_split_rend_setup( st_ivas->hSplitBinRend, &st_ivas->hRenderConfig->split_rend_config, st_ivas->hCombinedOrientationData, splitRendBits ) ) != IVAS_ERR_OK ) { @@ -2102,7 +2377,11 @@ static ivas_error ivas_dec_setup_all( * - reconfigure the ISAR handle in case of bitrate switching (renderer might change) *-----------------------------------------------------------------*/ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( st_ivas->ini_frame == 0 && splitRendBits != NULL ) +#else if ( st_ivas->ini_frame == 0 && isSplitRend ) +#endif { if ( ( error = ivas_dec_init_split_rend( st_ivas ) ) != IVAS_ERR_OK ) { @@ -3418,26 +3697,40 @@ ivas_error IVAS_DEC_TSM_SetQuality( #endif +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +/*---------------------------------------------------------------------* + * ivas_dec_voip_get_samples_common( ) + * + * Main function to output one frame in VoIP. Holds common code for + * regular output configs and split rendering configs. + *---------------------------------------------------------------------*/ +static ivas_error ivas_dec_voip_get_samples_common +#else /*---------------------------------------------------------------------* * IVAS_DEC_VoIP_GetSamples( ) * * Main function to decode one frame in VoIP *---------------------------------------------------------------------*/ -ivas_error IVAS_DEC_VoIP_GetSamples( - IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ - uint16_t nSamplesPerChannel, /* i : number of samples per channel requested to be written to output buffer */ - const IVAS_DEC_PCM_TYPE pcmType, /* i : type for the decoded PCM resolution */ - void *pcmBuf, /* o : output synthesis signal */ +ivas_error IVAS_DEC_VoIP_GetSamples +#endif + ( + IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ + uint16_t nSamplesPerChannel, /* i : number of samples per channel requested to be written to output buffer */ + const IVAS_DEC_PCM_TYPE pcmType, /* i : type for the decoded PCM resolution */ + void *pcmBuf, /* o : output synthesis signal */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + ISAR_SPLIT_REND_BITS_DATA *splitRendBits, /* o : output split rendering bits */ +#endif #ifdef SUPPORT_JBM_TRACEFILE - JbmTraceFileWriterFn jbmWriterFn, - void *jbmWriter, + JbmTraceFileWriterFn jbmWriterFn, + void *jbmWriter, #endif - bool *bitstreamReadDone, /* o : flag indicating that bitstream was read */ - uint16_t *nSamplesRendered, /* o : number of samples rendered */ - bool *parametersAvailableForEditing, /* o : indicates whether objects editing is available */ - const uint32_t systemTimestamp_ms /* i : current system timestamp */ -) + bool *bitstreamReadDone, /* o : flag indicating that bitstream was read */ + uint16_t *nSamplesRendered, /* o : number of samples rendered */ + bool *parametersAvailableForEditing, /* o : indicates whether objects editing is available */ + const uint32_t systemTimestamp_ms /* i : current system timestamp */ + ) { Decoder_Struct *st_ivas; DECODER_CONFIG_HANDLE hDecoderConfig; @@ -3449,6 +3742,12 @@ ivas_error IVAS_DEC_VoIP_GetSamples( ivas_error error; uint8_t nOutChannels; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + int32_t i; + float head_pose_buf[BINAURAL_CHANNELS * MAX_HEAD_ROT_POSES][L_FRAME48k]; + float *p_head_pose_buf[BINAURAL_CHANNELS * MAX_HEAD_ROT_POSES]; +#endif + if ( hIvasDec == NULL || hIvasDec->st_ivas == NULL || hIvasDec->hVoIP == NULL ) { return IVAS_ERR_UNEXPECTED_NULL_POINTER; @@ -3465,7 +3764,7 @@ ivas_error IVAS_DEC_VoIP_GetSamples( return IVAS_ERR_WRONG_PARAMS; } -#ifdef TMP_FIX_1119_SPLIT_RENDERING_VOIP +#ifndef FIX_1119_SPLIT_RENDERING_VOIP if ( hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM || hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_CODED ) { @@ -3618,7 +3917,13 @@ ivas_error IVAS_DEC_VoIP_GetSamples( { if ( hIvasDec->nSamplesAvailableNext == 0 || hIvasDec->nSamplesAvailableNext == hIvasDec->nSamplesFrame ) { - if ( ( error = IVAS_DEC_GetSamplesDecoder( hIvasDec, 0, NULL ) ) != IVAS_ERR_OK ) + if ( ( error = IVAS_DEC_GetSamplesDecoder( hIvasDec, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + splitRendBits +#else + 0, NULL +#endif + ) ) != IVAS_ERR_OK ) { return error; } @@ -3640,20 +3945,159 @@ ivas_error IVAS_DEC_VoIP_GetSamples( } } - /* render IVAS frames directly to the output buffer */ - if ( ( error = IVAS_DEC_GetSamplesRenderer( hIvasDec, nSamplesToRender, pcmType, pcm_buffer_offset( pcmBuf, pcmType, *nSamplesRendered * nOutChannels ), &nSamplesRendered_loop, &tmp ) ) != IVAS_ERR_OK ) +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( hIvasDec->st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_CODED || hIvasDec->st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) { - return error; + /* Render head poses from time-scaled transport channels */ + if ( ( error = isar_render_poses( hIvasDec, nSamplesToRender, &nSamplesRendered_loop, &tmp ) ) != IVAS_ERR_OK ) + { + return error; + } } + else + { +#endif + /* render IVAS frames directly to the output buffer */ + if ( ( error = IVAS_DEC_GetSamplesRenderer( hIvasDec, nSamplesToRender, pcmType, pcm_buffer_offset( pcmBuf, pcmType, *nSamplesRendered * nOutChannels ), &nSamplesRendered_loop, &tmp ) ) != IVAS_ERR_OK ) + { + return error; + } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + } +#endif *nSamplesRendered += nSamplesRendered_loop; update_voip_rendered20ms( hIvasDec, nSamplesRendered_loop ); } } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( hIvasDec->hasDecodedFirstGoodFrame && + ( hIvasDec->st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_CODED || + hIvasDec->st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) ) + { + for ( i = 0; i < BINAURAL_CHANNELS * MAX_HEAD_ROT_POSES; ++i ) + { + p_head_pose_buf[i] = head_pose_buf[i]; + } + + if ( !ivas_dec_split_rend_cldfb_in( st_ivas ) ) + { + ivas_TD_RINGBUF_PopChannels( hIvasDec->st_ivas->hSplitBinRend->hMultiBinTdData, p_head_pose_buf, *nSamplesRendered ); + } + + /* Analyse head poses over entire frame, generate ISAR metadata and maybe encode if split coded */ + error = isar_generate_metadata_and_bitstream( hIvasDec, p_head_pose_buf, splitRendBits ); + if ( error != IVAS_ERR_OK ) + { + return error; + } + + /* Synthesise PCM output if split PCM */ + if ( hIvasDec->st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) + { + if ( st_ivas->hDecoderConfig->render_framesize == IVAS_RENDER_FRAMESIZE_5MS ) + { +#ifndef DISABLE_LIMITER + ivas_limiter_dec( st_ivas->hLimiter, p_head_pose_buf, st_ivas->hDecoderConfig->nchan_out, *nSamplesRendered, st_ivas->BER_detect ); +#endif + } + else + { + ivas_limiter_dec( st_ivas->hLimiter, p_head_pose_buf, st_ivas->hDecoderConfig->nchan_out, *nSamplesRendered, st_ivas->BER_detect ); + } + +#ifdef DEBUGGING + st_ivas->noClipping += +#endif + ivas_syn_output( p_head_pose_buf, *nSamplesRendered, st_ivas->hDecoderConfig->nchan_out, (int16_t *) pcmBuf ); + } + } +#endif + return IVAS_ERR_OK; } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +/*---------------------------------------------------------------------* + * IVAS_DEC_VoIP_GetSamples( ) + * + * Main function to decode one frame in VoIP + *---------------------------------------------------------------------*/ + +ivas_error IVAS_DEC_VoIP_GetSamples( + IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ + uint16_t nSamplesPerChannel, /* i : number of samples per channel requested to be written to output buffer */ + const IVAS_DEC_PCM_TYPE pcmType, /* i : type for the decoded PCM resolution */ + void *pcmBuf, /* o : output synthesis signal */ +#ifdef SUPPORT_JBM_TRACEFILE + JbmTraceFileWriterFn jbmWriterFn, + void *jbmWriter, +#endif + bool *bitstreamReadDone, /* o : flag indicating that bitstream was read */ + uint16_t *nSamplesRendered, /* o : number of samples rendered */ + bool *parametersAvailableForEditing, /* o : indicates whether objects editing is available */ + const uint32_t systemTimestamp_ms /* i : current system timestamp */ +) +{ + return ivas_dec_voip_get_samples_common( + hIvasDec, + nSamplesPerChannel, + pcmType, + pcmBuf, + NULL, +#ifdef SUPPORT_JBM_TRACEFILE + jbmWriterFn, + jbmWriter, +#endif + bitstreamReadDone, + nSamplesRendered, + parametersAvailableForEditing, + systemTimestamp_ms ); +} + +/*! r: error code */ +ivas_error IVAS_DEC_VoIP_GetSplitBinauralBitstream( + IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ + /* const IVAS_DEC_PCM_TYPE pcmType, */ /* i : type for the decoded PCM resolution */ + void *pcmBuf, /* o : output synthesis signal */ + ISAR_SPLIT_REND_BITS_DATA *splitRendBits, /* o : output split rendering bits */ +#ifdef SUPPORT_JBM_TRACEFILE + JbmTraceFileWriterFn jbmWriterFn, + void *jbmWriter +#endif + , + bool *bitstreamReadDone, /* o : flag indicating that bitstream was read */ + uint16_t *nSamplesRendered, /* o : number of samples rendered */ + bool *parametersAvailableForEditing, /* o : indicates whether objects editing is available */ + const uint32_t systemTimestamp_ms /* i : current system timestamp */ +) +{ + ivas_error error = IVAS_ERR_UNKNOWN; + int16_t nSamplesPerChannel = 0; + + if ( ( error = IVAS_DEC_GetRenderFramesizeSamples( hIvasDec, &nSamplesPerChannel ) ) != IVAS_ERR_OK ) + { + return error; + } + + return ivas_dec_voip_get_samples_common( + hIvasDec, + nSamplesPerChannel, + IVAS_DEC_PCM_INT16, + pcmBuf, + splitRendBits, +#ifdef SUPPORT_JBM_TRACEFILE + jbmWriterFn, + jbmWriter, +#endif + bitstreamReadDone, + nSamplesRendered, + parametersAvailableForEditing, + systemTimestamp_ms ); +} +#endif + /*---------------------------------------------------------------------* * update_voip_rendered20ms( ) @@ -3704,6 +4148,10 @@ ivas_error IVAS_DEC_Flush( return IVAS_ERR_UNEXPECTED_NULL_POINTER; } +#ifdef TMP_1342_WORKAROUND_DEC_FLUSH_BROKEN_IN_SR + hIvasDec->st_ivas->flushing = 1; +#endif + *nSamplesFlushed = min( nSamplesPerChannel, hIvasDec->nSamplesAvailableNext ); nSamplesToRender = (uint16_t) *nSamplesFlushed; @@ -3719,6 +4167,10 @@ ivas_error IVAS_DEC_Flush( *nSamplesFlushed = 0; } +#ifdef TMP_1342_WORKAROUND_DEC_FLUSH_BROKEN_IN_SR + hIvasDec->st_ivas->flushing = 0; +#endif + return error; } @@ -4736,6 +5188,9 @@ static ivas_error ivas_create_handle_isar( ) { ISAR_DEC_SPLIT_REND_WRAPPER_HANDLE hSplitBinRend; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + int16_t i; +#endif if ( ( hSplitBinRend = (ISAR_DEC_SPLIT_REND_WRAPPER_HANDLE) malloc( sizeof( ISAR_DEC_SPLIT_REND_WRAPPER ) ) ) == NULL ) { @@ -4744,7 +5199,15 @@ static ivas_error ivas_create_handle_isar( isar_init_split_rend_handles( &hSplitBinRend->splitrend ); +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + hSplitBinRend->hMultiBinTdData = NULL; + for ( i = 0; i < (int16_t) ( MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS ); ++i ) + { + hSplitBinRend->hMultiBinCldfbData[i] = NULL; + } +#else hSplitBinRend->hMultiBinCldfbData = NULL; +#endif hSplitBinRend->hCldfbDataOut = NULL; hSplitBinRend->numTdSamplesPerChannelCached = 0; @@ -4764,10 +5227,28 @@ static void ivas_destroy_handle_isar( ISAR_DEC_SPLIT_REND_WRAPPER_HANDLE *hSplitBinRend /* i/o: ISAR split binaural rendering handle */ ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + int16_t i; +#endif + if ( *hSplitBinRend != NULL ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( ( *hSplitBinRend )->hMultiBinTdData != NULL ) + { + ivas_TD_RINGBUF_Close( &( *hSplitBinRend )->hMultiBinTdData ); + } + for ( i = 0; i < (int16_t) ( MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS ); ++i ) + { + if ( ( *hSplitBinRend )->hMultiBinCldfbData[i] != NULL ) + { + CLDFB_RINGBUF_Close( &( *hSplitBinRend )->hMultiBinCldfbData[i] ); + } + } +#else free( ( *hSplitBinRend )->hMultiBinCldfbData ); ( *hSplitBinRend )->hMultiBinCldfbData = NULL; +#endif ISAR_PRE_REND_close( &( *hSplitBinRend )->splitrend, NULL ); @@ -4941,6 +5422,16 @@ static ivas_error ivas_dec_reconfig_split_rend( return IVAS_ERR_OK; } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +static int16_t ivas_dec_split_rend_cldfb_in( Decoder_Struct *st_ivas ) +{ + + return st_ivas->renderer_type == RENDERER_BINAURAL_FASTCONV || + st_ivas->renderer_type == RENDERER_BINAURAL_FASTCONV_ROOM || + st_ivas->renderer_type == RENDERER_BINAURAL_PARAMETRIC || + st_ivas->renderer_type == RENDERER_BINAURAL_PARAMETRIC_ROOM; +} +#endif /*-------------------------------------------------------------------* * ivas_dec_init_split_rend() @@ -4955,10 +5446,16 @@ static ivas_error ivas_dec_init_split_rend( ivas_error error; int16_t cldfb_in_flag, pcm_out_flag; int16_t mixed_td_cldfb_flag; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + int16_t i, num_poses; +#endif pcm_out_flag = ( st_ivas->hDecoderConfig->output_config == IVAS_AUDIO_CONFIG_BINAURAL_SPLIT_PCM ) ? 1 : 0; cldfb_in_flag = 0; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + cldfb_in_flag = ivas_dec_split_rend_cldfb_in( st_ivas ); +#else if ( st_ivas->renderer_type == RENDERER_BINAURAL_FASTCONV || st_ivas->renderer_type == RENDERER_BINAURAL_FASTCONV_ROOM || st_ivas->renderer_type == RENDERER_BINAURAL_PARAMETRIC || @@ -4966,7 +5463,34 @@ static ivas_error ivas_dec_init_split_rend( { cldfb_in_flag = 1; } +#endif + +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + ISAR_PRE_REND_GetMultiBinPoseData( &st_ivas->hRenderConfig->split_rend_config, &st_ivas->hSplitBinRend->splitrend.multiBinPoseData, ( st_ivas->hHeadTrackData != NULL ) ? st_ivas->hHeadTrackData->sr_pose_pred_axis : DEFAULT_AXIS ); + num_poses = st_ivas->hSplitBinRend->splitrend.multiBinPoseData.num_poses; + assert( num_poses <= MAX_HEAD_ROT_POSES ); + if ( cldfb_in_flag ) + { + for ( i = 0; i < (int16_t) ( num_poses * BINAURAL_CHANNELS ); ++i ) + { + /* note: this is intra-frame heap memory */ + error = CLDFB_RINGBUF_Open( &st_ivas->hSplitBinRend->hMultiBinCldfbData[i], CLDFB_NO_COL_MAX ); + if ( error != IVAS_ERR_OK ) + { + return IVAS_ERROR( IVAS_ERR_FAILED_ALLOC, "Cannot allocate memory for split rendering structure" ); + } + } + } + else + { + error = ivas_TD_RINGBUF_Open( &st_ivas->hSplitBinRend->hMultiBinTdData, get_render_frame_size_samples( st_ivas ), num_poses * BINAURAL_CHANNELS ); + if ( error != IVAS_ERR_OK ) + { + return IVAS_ERROR( IVAS_ERR_FAILED_ALLOC, "Cannot allocate memory for split rendering structure" ); + } + } +#else /* note: this is intra-frame heap memory */ if ( ( st_ivas->hSplitBinRend->hMultiBinCldfbData = (ISAR_DEC_SPLIT_REND_MULTI_BIN_CLDFB_DATA_HANDLE) malloc( sizeof( ISAR_DEC_SPLIT_REND_MULTI_BIN_CLDFB_DATA ) ) ) == NULL ) { @@ -4974,6 +5498,7 @@ static ivas_error ivas_dec_init_split_rend( } ISAR_PRE_REND_GetMultiBinPoseData( &st_ivas->hRenderConfig->split_rend_config, &st_ivas->hSplitBinRend->splitrend.multiBinPoseData, ( st_ivas->hHeadTrackData != NULL ) ? st_ivas->hHeadTrackData->sr_pose_pred_axis : DEFAULT_AXIS ); +#endif if ( cldfb_in_flag == 1 && ( st_ivas->hSplitBinRend->splitrend.multiBinPoseData.poseCorrectionMode == ISAR_SPLIT_REND_POSE_CORRECTION_MODE_NONE ) ) { diff --git a/lib_dec/lib_dec.h b/lib_dec/lib_dec.h index f28279d86b17e8142d579461c1c09b9e84b9ad56..73c55bd1f02ded1c139238eb4533c7d7c0348920 100644 --- a/lib_dec/lib_dec.h +++ b/lib_dec/lib_dec.h @@ -162,7 +162,9 @@ ivas_error IVAS_DEC_ReadFormat( /*! r: decoder error code */ ivas_error IVAS_DEC_GetSamplesDecoder( IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ +#ifndef FIX_1119_SPLIT_RENDERING_VOIP const int16_t isSplitRend, /* i : split rendering enabled flag */ +#endif ISAR_SPLIT_REND_BITS_DATA *splitRendBits /* o : output split rendering bits */ ); @@ -321,6 +323,25 @@ ivas_error IVAS_DEC_VoIP_GetSamples( const uint32_t systemTimestamp_ms /* i : current system timestamp */ ); +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +/*! r: error code */ +ivas_error IVAS_DEC_VoIP_GetSplitBinauralBitstream( + IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ + /* const IVAS_DEC_PCM_TYPE pcmType, */ /* i : type for the decoded PCM resolution */ + void *pcmBuf, /* o : output synthesis signal */ + ISAR_SPLIT_REND_BITS_DATA *splitRendBits, /* o : output split rendering bits */ +#ifdef SUPPORT_JBM_TRACEFILE + JbmTraceFileWriterFn jbmWriterFn, + void* jbmWriter +#endif + , + bool *bitstreamReadDone, /* o : flag indicating that bitstream was read */ + uint16_t *nSamplesRendered, + bool *parametersAvailableForEditing, + const uint32_t systemTimestamp_ms /* i : current system timestamp */ +); +#endif + ivas_error IVAS_DEC_Flush( IVAS_DEC_HANDLE hIvasDec, /* i/o: IVAS decoder handle */ const int16_t nSamplesPerChannel, /* i : number of samples per channel requested to be written to output buffer */ diff --git a/lib_isar/isar_prot.h b/lib_isar/isar_prot.h index 7f66b317b50df80400c5baf296bd9a011114ca21..f842b0a53b3302a822a96921596618d42865c497 100644 --- a/lib_isar/isar_prot.h +++ b/lib_isar/isar_prot.h @@ -67,8 +67,13 @@ void isar_splitBinPreRendClose( void lc3plusTimeAlignCldfbPoseCorr( SPLIT_REND_WRAPPER *hSplitBin, /* i/o: Split renderer pre-renderer handle */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_In_BinReal[][CLDFB_NO_COL_MAX], /* i/o: Binaural signals, real part */ + float *Cldfb_In_BinImag[][CLDFB_NO_COL_MAX] /* i/o: Binaural signals, imag. part */ +#else float Cldfb_In_BinReal[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i/o: Binaural signals, real part */ float Cldfb_In_BinImag[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX] /* i/o: Binaural signals, imag. part */ +#endif ); ivas_error splitRendLc3plusEncodeAndWrite( @@ -183,8 +188,13 @@ void isar_splitBinLCLDEncClose( void isar_splitBinLCLDEncProcess( ISAR_BIN_HR_SPLIT_LCLD_ENC_HANDLE hSplitBinLCLDEnc, /* i/o: ISAR LCLD encoder handle */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_In_Real[][CLDFB_NO_COL_MAX], + float *Cldfb_In_Imag[][CLDFB_NO_COL_MAX], +#else float Cldfb_In_Real[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], float Cldfb_In_Imag[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], +#endif const int32_t available_bits, ISAR_SPLIT_REND_BITS_HANDLE pBits /* i/o: ISAR bits handle */ ); @@ -271,8 +281,13 @@ void isar_rend_CldfbSplitPreRendProcess( const ISAR_BIN_HR_SPLIT_PRE_REND_HANDLE hBinHrSplitPreRend, /* i : binaural pre-renderer handle */ const IVAS_QUATERNION headPosition, /* i : head rotation QUATERNION */ MULTI_BIN_REND_POSE_DATA *pMultiBinPoseData, /* i/o: pose correction data handle */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float* Cldfb_In_BinReal[][CLDFB_NO_COL_MAX], /* i : Binaural signals, real part */ + float* Cldfb_In_BinImag[][CLDFB_NO_COL_MAX], /* i : Binaural signals, imag. part */ +#else float Cldfb_In_BinReal[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i : Binaural signals, real part */ float Cldfb_In_BinImag[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i : Binaural signals, imag. part */ +#endif ISAR_SPLIT_REND_BITS_HANDLE pBits, /* i/o: ISAR bits handle */ const int32_t target_md_bits, /* i : ISAR MD bitrate */ const int16_t low_res_pre_rend_rot, /* i : low time resolution pre-renderer flag */ diff --git a/lib_isar/isar_splitRend_lcld_enc.c b/lib_isar/isar_splitRend_lcld_enc.c index ac43233e1a5813567871592b30357200304e4ce7..171b5162b3a005e9b9542879435fc8156762130d 100644 --- a/lib_isar/isar_splitRend_lcld_enc.c +++ b/lib_isar/isar_splitRend_lcld_enc.c @@ -158,8 +158,13 @@ void isar_splitBinLCLDEncClose( void isar_splitBinLCLDEncProcess( ISAR_BIN_HR_SPLIT_LCLD_ENC_HANDLE hSplitBinLCLDEnc, /* i/o: ISAR LCLD encoder handle */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_In_Real[][CLDFB_NO_COL_MAX], + float *Cldfb_In_Imag[][CLDFB_NO_COL_MAX], +#else float Cldfb_In_Real[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], float Cldfb_In_Imag[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], +#endif const int32_t available_bits, ISAR_SPLIT_REND_BITS_HANDLE pBits /* i/o: ISAR bits handle */ ) diff --git a/lib_isar/isar_splitRendererPre.c b/lib_isar/isar_splitRendererPre.c index c7098f997f5f94263258d78579e744a4acc2f414..370e02398d5a9cb2eae31418e531083b7490fd94 100644 --- a/lib_isar/isar_splitRendererPre.c +++ b/lib_isar/isar_splitRendererPre.c @@ -53,7 +53,16 @@ * Local function declarations *---------------------------------------------------------------------*/ -static void isar_SplitRenderer_GetRotMd( ISAR_BIN_HR_SPLIT_PRE_REND_HANDLE hBinHrSplitPreRend, MULTI_BIN_REND_POSE_DATA *pMultiBinPoseData, float Cldfb_RealBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], float Cldfb_ImagBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], const int16_t low_res, const int16_t ro_md_flag ); +static void isar_SplitRenderer_GetRotMd( ISAR_BIN_HR_SPLIT_PRE_REND_HANDLE hBinHrSplitPreRend, MULTI_BIN_REND_POSE_DATA *pMultiBinPoseData, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_RealBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX], + float *Cldfb_ImagBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX], +#else + float Cldfb_RealBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], + float Cldfb_ImagBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], +#endif + const int16_t low_res, + const int16_t ro_md_flag ); /*------------------------------------------------------------------------- @@ -271,11 +280,21 @@ static void ComputePostPredCov( static void ComputeBandedCrossCov( +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_RealBuffer1[][CLDFB_NO_COL_MAX], + float *Cldfb_ImagBuffer1[][CLDFB_NO_COL_MAX], +#else float Cldfb_RealBuffer1[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], float Cldfb_ImagBuffer1[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], +#endif const int16_t ch_start_idx1, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_RealBuffer2[][CLDFB_NO_COL_MAX], + float *Cldfb_ImagBuffer2[][CLDFB_NO_COL_MAX], +#else float Cldfb_RealBuffer2[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], float Cldfb_ImagBuffer2[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], +#endif const int16_t ch_start_idx2, float out_cov_re[BINAURAL_CHANNELS][BINAURAL_CHANNELS], float out_cov_im[BINAURAL_CHANNELS][BINAURAL_CHANNELS], @@ -340,8 +359,13 @@ static void ComputeBandedCrossCov( static void ComputeBandedCov( +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_RealBuffer[][CLDFB_NO_COL_MAX], + float *Cldfb_ImagBuffer[][CLDFB_NO_COL_MAX], +#else float Cldfb_RealBuffer[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], float Cldfb_ImagBuffer[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], +#endif const int16_t ch_start_idx, float out_cov_re[][BINAURAL_CHANNELS], float out_cov_im[][BINAURAL_CHANNELS], @@ -1345,10 +1369,15 @@ static void isar_SplitRenderer_quant_code( *------------------------------------------------------------------------*/ static void isar_SplitRenderer_GetRotMd( - ISAR_BIN_HR_SPLIT_PRE_REND_HANDLE hBinHrSplitPreRend, /* i/o: binaural renderer handle */ - MULTI_BIN_REND_POSE_DATA *pMultiBinPoseData, /* i/o: pose correction data handle */ + ISAR_BIN_HR_SPLIT_PRE_REND_HANDLE hBinHrSplitPreRend, /* i/o: binaural renderer handle */ + MULTI_BIN_REND_POSE_DATA *pMultiBinPoseData, /* i/o: pose correction data handle */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_RealBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX], /* o : Reference Binaural signals */ + float *Cldfb_ImagBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX], /* o : Reference Binaural signals */ +#else float Cldfb_RealBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* o : Reference Binaural signals */ float Cldfb_ImagBuffer_Ref_Binaural[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* o : Reference Binaural signals */ +#endif const int16_t low_res, const int16_t ro_md_flag /* i : Flag to indicate real only metadata for yaw */ ) @@ -1430,15 +1459,20 @@ static void isar_SplitRenderer_GetRotMd( *------------------------------------------------------------------------*/ void isar_rend_CldfbSplitPreRendProcess( - const ISAR_BIN_HR_SPLIT_PRE_REND_HANDLE hBinHrSplitPreRend, /* i : binaural pre-renderer handle */ - const IVAS_QUATERNION headPosition, /* i : head rotation QUATERNION */ - MULTI_BIN_REND_POSE_DATA *pMultiBinPoseData, /* i/o: pose correction data handle */ - float Cldfb_In_BinReal[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i : Binaural signals, real part */ - float Cldfb_In_BinImag[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i : Binaural signals, imag. part */ - ISAR_SPLIT_REND_BITS_HANDLE pBits, /* i/o: ISAR bits handle */ - const int32_t target_md_bits, /* i : ISAR MD bitrate */ - const int16_t low_res_pre_rend_rot, /* i : low time resolution pre-renderer flag */ - const int16_t ro_md_flag /* i : real only metadata for yaw flag */ + const ISAR_BIN_HR_SPLIT_PRE_REND_HANDLE hBinHrSplitPreRend, /* i : binaural pre-renderer handle */ + const IVAS_QUATERNION headPosition, /* i : head rotation QUATERNION */ + MULTI_BIN_REND_POSE_DATA *pMultiBinPoseData, /* i/o: pose correction data handle */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_In_BinReal[][CLDFB_NO_COL_MAX], /* i : Binaural signals, real part */ + float *Cldfb_In_BinImag[][CLDFB_NO_COL_MAX], /* i : Binaural signals, imag. part */ +#else + float Cldfb_In_BinReal[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i : Binaural signals, real part */ + float Cldfb_In_BinImag[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i : Binaural signals, imag. part */ +#endif + ISAR_SPLIT_REND_BITS_HANDLE pBits, /* i/o: ISAR bits handle */ + const int32_t target_md_bits, /* i : ISAR MD bitrate */ + const int16_t low_res_pre_rend_rot, /* i : low time resolution pre-renderer flag */ + const int16_t ro_md_flag /* i : real only metadata for yaw flag */ ) { push_wmops( "isar_rend_CldfbSplitPreRendProcess" ); @@ -1893,6 +1927,11 @@ ivas_error isar_renderMultiTDBinToSplitBinaural( uint8_t useLc3plus; float *in_delayed[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS]; int16_t i; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + int16_t j; + float *p_Cldfb_In_BinReal[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS][CLDFB_NO_COL_MAX]; + float *p_Cldfb_In_BinImag[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS][CLDFB_NO_COL_MAX]; +#endif int32_t num_slots; push_wmops( "isar_renderMultiTDBinToSplitBinaural" ); @@ -1902,6 +1941,17 @@ ivas_error isar_renderMultiTDBinToSplitBinaural( useLc3plus = hSplitBin->hLc3plusEnc != NULL; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + for ( i = 0; i < MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS; ++i ) + { + for ( j = 0; j < CLDFB_NO_COL_MAX; ++j ) + { + p_Cldfb_In_BinReal[i][j] = Cldfb_In_BinReal[i][j]; + p_Cldfb_In_BinImag[i][j] = Cldfb_In_BinImag[i][j]; + } + } +#endif + if ( useLc3plus ) { /*this should always have the time resolution of pose correction MD. Note that this does not change frame size of LC3plus*/ @@ -1963,7 +2013,21 @@ ivas_error isar_renderMultiTDBinToSplitBinaural( { target_md_bits = isar_get_split_rend_md_target_brate( SplitRendBitRate, pcm_out_flag ) * L_FRAME48k / 48000; - isar_rend_CldfbSplitPreRendProcess( hSplitBin->hBinHrSplitPreRend, headPosition, &hSplitBin->multiBinPoseData, Cldfb_In_BinReal, Cldfb_In_BinImag, pBits, target_md_bits, low_res_pre_rend_rot, ro_md_flag ); + isar_rend_CldfbSplitPreRendProcess( + hSplitBin->hBinHrSplitPreRend, + headPosition, + &hSplitBin->multiBinPoseData, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + p_Cldfb_In_BinReal, + p_Cldfb_In_BinImag, +#else + Cldfb_In_BinReal, + Cldfb_In_BinImag, +#endif + pBits, + target_md_bits, + low_res_pre_rend_rot, + ro_md_flag ); } if ( pcm_out_flag == 0 ) @@ -1978,7 +2042,17 @@ ivas_error isar_renderMultiTDBinToSplitBinaural( pBits->codec_frame_size_ms = codec_frame_size_ms; pBits->isar_frame_size_ms = isar_frame_size_ms; - isar_splitBinLCLDEncProcess( hSplitBin->hSplitBinLCLDEnc, Cldfb_In_BinReal, Cldfb_In_BinImag, available_bits, pBits ); + isar_splitBinLCLDEncProcess( + hSplitBin->hSplitBinLCLDEnc, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + p_Cldfb_In_BinReal, + p_Cldfb_In_BinImag, +#else + Cldfb_In_BinReal, + Cldfb_In_BinImag, +#endif + available_bits, + pBits ); } else { @@ -2039,9 +2113,14 @@ ivas_error isar_renderMultiTDBinToSplitBinaural( *------------------------------------------------------------------------*/ void lc3plusTimeAlignCldfbPoseCorr( - SPLIT_REND_WRAPPER *hSplitBin, /* i/o: Split renderer pre-renderer handle */ + SPLIT_REND_WRAPPER *hSplitBin, /* i/o: Split renderer pre-renderer handle */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_In_BinReal[][CLDFB_NO_COL_MAX], /* i/o: Binaural signals, real part */ + float *Cldfb_In_BinImag[][CLDFB_NO_COL_MAX] /* i/o: Binaural signals, imag. part */ +#else float Cldfb_In_BinReal[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i/o: Binaural signals, real part */ float Cldfb_In_BinImag[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX] /* ii/: Binaural signals, imag. part */ +#endif ) { float Cldfb_In_BinReal_tmp[MAX_HEAD_ROT_POSES][BINAURAL_CHANNELS][2][CLDFB_NO_CHANNELS_MAX]; diff --git a/lib_isar/lib_isar_pre_rend.c b/lib_isar/lib_isar_pre_rend.c index d24bc94de7411889db57dd0757fbd50945d41dcf..5318d217b26a49fc302653656ce747b162b54988 100644 --- a/lib_isar/lib_isar_pre_rend.c +++ b/lib_isar/lib_isar_pre_rend.c @@ -272,21 +272,26 @@ void ISAR_PRE_REND_GetMultiBinPoseData( *------------------------------------------------------------------------*/ ivas_error ISAR_PRE_REND_MultiBinToSplitBinaural( - SPLIT_REND_WRAPPER *hSplitBin, /* i/o: Split renderer pre-renerer handle */ - const IVAS_QUATERNION headPosition, /* i : head rotation QUATERNION */ - const int32_t SplitRendBitRate, /* i : Split renderer bitrate */ - ISAR_SPLIT_REND_CODEC splitCodec, /* i/o: Split renderer codec */ - const int16_t isar_frame_size_ms, /* i : ISAR framesize */ - int16_t codec_frame_size_ms, /* i/o: ISAR transport codec framesize */ - ISAR_SPLIT_REND_BITS_HANDLE pBits, /* i/o: ISAR bits struct handle */ + SPLIT_REND_WRAPPER *hSplitBin, /* i/o: Split renderer pre-renerer handle */ + const IVAS_QUATERNION headPosition, /* i : head rotation QUATERNION */ + const int32_t SplitRendBitRate, /* i : Split renderer bitrate */ + ISAR_SPLIT_REND_CODEC splitCodec, /* i/o: Split renderer codec */ + const int16_t isar_frame_size_ms, /* i : ISAR framesize */ + int16_t codec_frame_size_ms, /* i/o: ISAR transport codec framesize */ + ISAR_SPLIT_REND_BITS_HANDLE pBits, /* i/o: ISAR bits struct handle */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *Cldfb_In_BinReal[][CLDFB_NO_COL_MAX], /* i/o: CLDFB real buffer */ + float *Cldfb_In_BinImag[][CLDFB_NO_COL_MAX], /* i/o: CLDFB imag buffer */ +#else float Cldfb_In_BinReal[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i/o: CLDFB real buffer */ float Cldfb_In_BinImag[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i/o: CLDFB imag buffer */ - const int16_t max_bands, /* i : CLDFB bands */ - float *output[], /* i/o: PCM in/out buffer */ - const int16_t low_res_pre_rend_rot, /* i : low time resolution pre-renderer flag */ - const int16_t cldfb_in_flag, /* i : Flag to indicate CLDFB or time domain input */ - const int16_t pcm_out_flag, /* i : Flag to indicate PCM output */ - const int16_t ro_md_flag /* i : Flag to indicate real only metadata for yaw */ +#endif + const int16_t max_bands, /* i : CLDFB bands */ + float *output[], /* i/o: PCM in/out buffer */ + const int16_t low_res_pre_rend_rot, /* i : low time resolution pre-renderer flag */ + const int16_t cldfb_in_flag, /* i : Flag to indicate CLDFB or time domain input */ + const int16_t pcm_out_flag, /* i : Flag to indicate PCM output */ + const int16_t ro_md_flag /* i : Flag to indicate real only metadata for yaw */ ) { ivas_error error; @@ -374,20 +379,22 @@ ivas_error ISAR_PRE_REND_MultiBinToSplitBinaural( } else { - int16_t ch, slot_idx; + int16_t ch, slot_idx, num_slots; + num_slots = (int16_t) ( isar_frame_size_ms * 1000000 / CLDFB_SLOT_NS ); + /* CLDFB synthesis of main pose */ for ( ch = 0; ch < BINAURAL_CHANNELS; ch++ ) { float *Cldfb_In_BinReal_p[CLDFB_NO_COL_MAX]; float *Cldfb_In_BinImag_p[CLDFB_NO_COL_MAX]; - for ( slot_idx = 0; slot_idx < CLDFB_NO_COL_MAX; slot_idx++ ) + for ( slot_idx = 0; slot_idx < num_slots; slot_idx++ ) { Cldfb_In_BinReal_p[slot_idx] = Cldfb_In_BinReal[ch][slot_idx]; Cldfb_In_BinImag_p[slot_idx] = Cldfb_In_BinImag[ch][slot_idx]; } - cldfbSynthesis( Cldfb_In_BinReal_p, Cldfb_In_BinImag_p, output[ch], hSplitBin->hCldfbHandles->cldfbSyn[0]->no_channels * CLDFB_NO_COL_MAX, hSplitBin->hCldfbHandles->cldfbSyn[ch] ); + cldfbSynthesis( Cldfb_In_BinReal_p, Cldfb_In_BinImag_p, output[ch], hSplitBin->hCldfbHandles->cldfbSyn[0]->no_channels * num_slots, hSplitBin->hCldfbHandles->cldfbSyn[ch] ); } pBits->pose_correction = hSplitBin->multiBinPoseData.poseCorrectionMode; diff --git a/lib_isar/lib_isar_pre_rend.h b/lib_isar/lib_isar_pre_rend.h index 9f9f098f3906f5f724a7ba1e69655dcdca92a131..e1124a714cba32b68e23c2f900692d1f82e0efbf 100644 --- a/lib_isar/lib_isar_pre_rend.h +++ b/lib_isar/lib_isar_pre_rend.h @@ -71,8 +71,13 @@ ivas_error ISAR_PRE_REND_MultiBinToSplitBinaural( const int16_t isar_frame_size_ms, /* i : ISAR framesize */ int16_t codec_frame_size_ms, /* i/o: ISAR transport codec framesize */ ISAR_SPLIT_REND_BITS_HANDLE pBits, /* i/o: ISAR bits struct handle */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float* Cldfb_In_BinReal[][CLDFB_NO_COL_MAX], /* i/o: CLDFB real buffer */ + float* Cldfb_In_BinImag[][CLDFB_NO_COL_MAX], /* i/o: CLDFB imag buffer */ +#else float Cldfb_In_BinReal[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i/o: CLDFB real buffer */ float Cldfb_In_BinImag[][CLDFB_NO_COL_MAX][CLDFB_NO_CHANNELS_MAX], /* i/o: CLDFB imag buffer */ +#endif const int16_t max_bands, /* i : CLDFB bands */ float *output[], /* i/o: PCM in/out buffer */ const int16_t low_res_pre_rend_rot, /* i : low time resolution pre-renderer flag */ diff --git a/lib_rend/ivas_dirac_dec_binaural_functions.c b/lib_rend/ivas_dirac_dec_binaural_functions.c index bb0af1eb7233be718ee4f0e306a9ebfccd227cf6..7b2630fd67db94fb27706a55dc7d38ed53c15ab6 100644 --- a/lib_rend/ivas_dirac_dec_binaural_functions.c +++ b/lib_rend/ivas_dirac_dec_binaural_functions.c @@ -795,8 +795,16 @@ static void ivas_dirac_dec_binaural_internal( { for ( i = 0; i < hSpatParamRendCom->subframe_nbslots[subframe]; i++ ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + CLDFB_RINGBUF_Push( + st_ivas->hSplitBinRend->hMultiBinCldfbData[ch], + tmp_Cldfb_out_re[ch][i], + tmp_Cldfb_out_im[ch][i], + CLDFB_NO_CHANNELS_MAX ); +#else mvr2r( tmp_Cldfb_out_re[ch][i], st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_RealBuffer_Binaural[ch][hSpatParamRendCom->slots_rendered + i], CLDFB_NO_CHANNELS_MAX ); mvr2r( tmp_Cldfb_out_im[ch][i], st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_ImagBuffer_Binaural[ch][hSpatParamRendCom->slots_rendered + i], CLDFB_NO_CHANNELS_MAX ); +#endif } } } @@ -846,11 +854,19 @@ static void ivas_dirac_dec_binaural_internal( mvr2r( st_ivas->hDiracDecBin[0]->ChCrossIm, hDiracDecBin->ChCrossIm, hSpatParamRendCom->num_freq_bands ); ivas_dirac_dec_binaural_formulate_target_covariance_matrices( hDiracDecBin, hSpatParamRendCom, &config_data, Rmat_local, subframe, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + hCombinedOrientationData && hCombinedOrientationData->enableCombinedOrientation[hCombinedOrientationData->subframe_idx] > 0, +#else hCombinedOrientationData && hCombinedOrientationData->enableCombinedOrientation[subframe] > 0, +#endif subFrameTotalEne, IIReneLimiter, st_ivas->hMasaIsmData ); ivas_dirac_dec_binaural_determine_processing_matrices( hDiracDecBin, hSpatParamRendCom, &config_data, max_band_decorr, Rmat_local, subframe, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + hCombinedOrientationData && hCombinedOrientationData->enableCombinedOrientation[hCombinedOrientationData->subframe_idx] > 0, +#else hCombinedOrientationData && hCombinedOrientationData->enableCombinedOrientation[subframe] > 0, +#endif nchanSeparateChannels, st_ivas->hMasaIsmData ); @@ -864,8 +880,16 @@ static void ivas_dirac_dec_binaural_internal( { for ( i = 0; i < hSpatParamRendCom->subframe_nbslots[subframe]; i++ ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + CLDFB_RINGBUF_Push( + st_ivas->hSplitBinRend->hMultiBinCldfbData[pos_idx * BINAURAL_CHANNELS + ch], + tmp_Cldfb_out_re[ch][i], + tmp_Cldfb_out_im[ch][i], + CLDFB_NO_CHANNELS_MAX ); +#else mvr2r( tmp_Cldfb_out_re[ch][i], st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_RealBuffer_Binaural[pos_idx * BINAURAL_CHANNELS + ch][hSpatParamRendCom->slots_rendered + i], CLDFB_NO_CHANNELS_MAX ); mvr2r( tmp_Cldfb_out_im[ch][i], st_ivas->hSplitBinRend->hMultiBinCldfbData->Cldfb_ImagBuffer_Binaural[pos_idx * BINAURAL_CHANNELS + ch][hSpatParamRendCom->slots_rendered + i], CLDFB_NO_CHANNELS_MAX ); +#endif } } diff --git a/lib_rend/ivas_prot_rend.h b/lib_rend/ivas_prot_rend.h index 32c2992c1a2449e6e329d666e821248b1e5bd426..e26ab1f6b8113118f8b76f12bf096545dafdbb8d 100644 --- a/lib_rend/ivas_prot_rend.h +++ b/lib_rend/ivas_prot_rend.h @@ -1600,6 +1600,31 @@ void ivas_TD_RINGBUF_Close( TD_RINGBUF_HANDLE *ph /* i/o: Ring buffer handle */ ); +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +void ivas_TD_RINGBUF_PushInterleaved( + TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ + const float *data, /* i : Input audio in interleaved channels layout */ + const uint32_t num_samples_per_channel /* i : Number of samples per channel to push */ +); + +void ivas_TD_RINGBUF_PushChannels( + TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ + const float *p_channels[], /* i : Array of pointers to each input channel */ + const uint32_t num_samples_per_channel /* i : Number of samples per channel to store */ +); + +void ivas_TD_RINGBUF_PushConstant( + TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ + const float value, /* i : Value to push */ + const uint32_t num_samples_per_channel /* i : Number of samples per channel to push */ +); + +void ivas_TD_RINGBUF_PopChannels( + TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ + float *p_channels[], /* i : Array of pointers to each output channel */ + const uint32_t num_samples_per_channel /* i : Number of samples per channel to pop */ +); +#else void ivas_TD_RINGBUF_Push( TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ const float *data, /* i : Input data */ @@ -1616,6 +1641,7 @@ void ivas_TD_RINGBUF_Pop( float *data, /* i : Output data */ const uint32_t num_samples_per_channel /* i : Number of samples per channel to retrieve*/ ); +#endif uint32_t ivas_TD_RINGBUF_Size( const TD_RINGBUF_HANDLE h /* i : Ring buffer handle */ diff --git a/lib_rend/ivas_td_ring_buffer.c b/lib_rend/ivas_td_ring_buffer.c index 5c9c6089bbc41150c6469cd8240a1df3741b38ce..6381a00e90b9e10cfb80ed9736b79394f999c821 100644 --- a/lib_rend/ivas_td_ring_buffer.c +++ b/lib_rend/ivas_td_ring_buffer.c @@ -66,6 +66,40 @@ static int16_t ivas_td_ringbuf_has_space_for_num_samples( return (int16_t) ( ivas_td_ringbuf_total_size( h ) + num_samples <= h->capacity ); } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +static void ivas_td_ringbuf_push_interleaved( + TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ + const float *data, /* i : Input audio in interleaved channels layout */ + const uint32_t num_samples_per_channel, /* i : Number of samples per channel to push */ + const uint16_t read_stride /* i: : 1 for normal operation, 0 for reading from a single input value */ +) +{ + uint32_t s, read_s; + + assert( h != NULL ); + assert( data != NULL ); + assert( read_stride == 0 || read_stride == 1 ); + assert( ivas_td_ringbuf_has_space_for_num_samples( h, num_samples_per_channel * h->num_channels ) ); + + for ( s = 0, read_s = 0; s < num_samples_per_channel * h->num_channels; ++s, read_s += read_stride ) + { + h->data[h->write_pos] = data[read_s]; + ++h->write_pos; + + if ( h->write_pos == h->capacity ) + { + h->write_pos = 0; + } + } + + if ( h->read_pos == h->write_pos ) + { + h->is_full = 1; + } + + return; +} +#endif /*-----------------------------------------------------------------------* * Global function definitions @@ -150,6 +184,36 @@ void ivas_TD_RINGBUF_Close( } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +/*---------------------------------------------------------------------* + * ivas_TD_RINGBUF_PushInterleaved() + * + * Push samples from a buffer with interleaved channel layout onto the back of the TD ring buffer. + *---------------------------------------------------------------------*/ + +void ivas_TD_RINGBUF_PushInterleaved( + TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ + const float *data, /* i : Input audio in interleaved channels layout */ + const uint32_t num_samples_per_channel /* i : Number of samples per channel to push */ +) +{ + ivas_td_ringbuf_push_interleaved( h, data, num_samples_per_channel, 1 ); + + return; +} + +/*---------------------------------------------------------------------* + * ivas_TD_RINGBUF_PushChannels() + * + * Push samples from channel pointers onto the back of the TD ring buffer. + *---------------------------------------------------------------------*/ + +void ivas_TD_RINGBUF_PushChannels( + TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ + const float *p_channels[], /* i : Array of pointers to each input channel */ + const uint32_t num_samples_per_channel /* i : Number of samples per channel to push */ +) +#else /*---------------------------------------------------------------------* * ivas_TD_RINGBUF_Push() * @@ -162,17 +226,30 @@ void ivas_TD_RINGBUF_Push( const float *data, /* i : Input data */ const uint32_t num_samples_per_channel /* i : Number of samples per channel to store */ ) +#endif { uint32_t s; uint16_t c; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + assert( h != NULL ); + assert( p_channels != NULL ); + for ( c = 0; c < h->num_channels; ++c ) + { + assert( p_channels[c] != NULL ); + } +#endif assert( ivas_td_ringbuf_has_space_for_num_samples( h, num_samples_per_channel * h->num_channels ) ); for ( s = 0; s < num_samples_per_channel; ++s ) { for ( c = 0; c < h->num_channels; ++c ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + h->data[h->write_pos] = p_channels[c][s]; +#else h->data[h->write_pos] = *( data + c * num_samples_per_channel + s ); +#endif ++h->write_pos; if ( h->write_pos == h->capacity ) @@ -191,6 +268,24 @@ void ivas_TD_RINGBUF_Push( } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +/*---------------------------------------------------------------------* + * ivas_TD_RINGBUF_PushConstant() + * + * Push samples with a constant value onto the back of the TD ring buffer. + *---------------------------------------------------------------------*/ + +void ivas_TD_RINGBUF_PushConstant( + TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ + const float value, /* i : Value to push */ + const uint32_t num_samples_per_channel /* i : Number of samples per channel to push */ +) +{ + ivas_td_ringbuf_push_interleaved( h, &value, num_samples_per_channel, 0 ); + + return; +} +#else /*---------------------------------------------------------------------* * ivas_TD_RINGBUF_PushZeros() * @@ -232,8 +327,22 @@ void ivas_TD_RINGBUF_PushZeros( return; } +#endif + +#ifdef FIX_1119_SPLIT_RENDERING_VOIP +/*---------------------------------------------------------------------* + * ivas_TD_RINGBUF_PopChannels() + * + * Pop samples from the front of the TD ring buffer to an array of channel pointers. + *---------------------------------------------------------------------*/ +void ivas_TD_RINGBUF_PopChannels( + TD_RINGBUF_HANDLE h, /* i/o: Ring buffer handle */ + float *p_channels[], /* i : Array of pointers to each output channel */ + const uint32_t num_samples_per_channel /* i : Number of samples per channel to pop */ +) +#else /*---------------------------------------------------------------------* * ivas_TD_RINGBUF_Pop() * @@ -245,17 +354,30 @@ void ivas_TD_RINGBUF_Pop( float *data, /* i : Output data */ const uint32_t num_samples_per_channel /* i : Number of samples per channel to retrieve */ ) +#endif { uint32_t s; uint16_t c; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + assert( h != NULL ); + assert( p_channels != NULL ); + for ( c = 0; c < h->num_channels; ++c ) + { + assert( p_channels[c] != NULL ); + } +#endif assert( ivas_td_ringbuf_total_size( h ) >= num_samples_per_channel * h->num_channels ); for ( s = 0; s < num_samples_per_channel; ++s ) { for ( c = 0; c < h->num_channels; ++c ) { +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + p_channels[c][s] = h->data[h->read_pos]; +#else *( data + c * num_samples_per_channel + s ) = h->data[h->read_pos]; +#endif ++h->read_pos; if ( h->read_pos == h->capacity ) @@ -265,10 +387,17 @@ void ivas_TD_RINGBUF_Pop( } } +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + if ( num_samples_per_channel != 0 ) + { + h->is_full = 0; + } +#else if ( h->is_full ) { h->is_full = 0; } +#endif return; } diff --git a/lib_rend/lib_rend.c b/lib_rend/lib_rend.c index 645a23f2c827b7e056035e4c64ae2bbc21251eda..f12216a376bfe46f2a947e8f69acf250e0f12341 100644 --- a/lib_rend/lib_rend.c +++ b/lib_rend/lib_rend.c @@ -1482,6 +1482,11 @@ static ivas_error alignInputDelay( int16_t maxGlobalDelaySamples; int32_t numSamplesToPush, numSamplesToPop; uint32_t ringBufferSize, preDelay; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + int32_t i; + const float *p_read_channels[MAX_INPUT_CHANNELS]; + float *p_write_channels[MAX_INPUT_CHANNELS]; +#endif maxGlobalDelaySamples = latencyNsToSamples( sampleRateOut, maxGlobalDelayNs ); maxGlobalDelaySamples *= cldfb2tdSampleFact; @@ -1504,7 +1509,11 @@ static ivas_error alignInputDelay( /* for the first frame we need to push zeros to align the input delay to the global delay * and then push a frame of actual data */ +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + ivas_TD_RINGBUF_PushConstant( inputBase->delayBuffer, 0, preDelay ); +#else ivas_TD_RINGBUF_PushZeros( inputBase->delayBuffer, preDelay ); +#endif /* for ISM inputs, ensure the metadata sync delay is updated */ if ( getAudioConfigType( inputBase->inConfig ) == IVAS_REND_AUDIO_CONFIG_TYPE_OBJECT_BASED ) @@ -1522,8 +1531,22 @@ static ivas_error alignInputDelay( numSamplesToPush = flushInputs ? 0 : inputAudio.config.numSamplesPerChannel; numSamplesToPop = flushInputs ? ivas_TD_RINGBUF_Size( inputBase->delayBuffer ) : (uint32_t) inputAudio.config.numSamplesPerChannel; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + for ( i = 0; i < inputAudio.config.numChannels; ++i ) + { + p_read_channels[i] = inputAudio.data + i * numSamplesToPush; + } + ivas_TD_RINGBUF_PushChannels( inputBase->delayBuffer, p_read_channels, numSamplesToPush ); + + for ( i = 0; i < inputAudio.config.numChannels; ++i ) + { + p_write_channels[i] = inputBase->inputBuffer.data + i * numSamplesToPop; + } + ivas_TD_RINGBUF_PopChannels( inputBase->delayBuffer, p_write_channels, numSamplesToPop ); +#else ivas_TD_RINGBUF_Push( inputBase->delayBuffer, inputAudio.data, numSamplesToPush ); ivas_TD_RINGBUF_Pop( inputBase->delayBuffer, inputBase->inputBuffer.data, numSamplesToPop ); +#endif } else { @@ -7874,6 +7897,21 @@ ivas_error IVAS_REND_GetSplitBinauralBitstream( ISAR_SPLIT_REND_CONFIG_HANDLE pSplitRendConfig; ISAR_SPLIT_REND_BITS_DATA bits; +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + float *p_Cldfb_RealBuffer_Binaural[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS][CLDFB_NO_COL_MAX]; + float *p_Cldfb_ImagBuffer_Binaural[MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS][CLDFB_NO_COL_MAX]; + int32_t j; + + for ( i = 0; i < BINAURAL_CHANNELS * MAX_HEAD_ROT_POSES; ++i ) + { + for ( j = 0; j < CLDFB_NO_COL_MAX; ++j ) + { + p_Cldfb_RealBuffer_Binaural[i][j] = Cldfb_RealBuffer_Binaural[i][j]; + p_Cldfb_ImagBuffer_Binaural[i][j] = Cldfb_ImagBuffer_Binaural[i][j]; + } + } +#endif + for ( ch = 0; ch < MAX_HEAD_ROT_POSES * BINAURAL_CHANNELS; ch++ ) { tmpBinaural[ch] = tmpBinaural_buff[ch]; @@ -7941,8 +7979,13 @@ ivas_error IVAS_REND_GetSplitBinauralBitstream( pSplitRendConfig->isar_frame_size_ms, pSplitRendConfig->codec_frame_size_ms, &bits, +#ifdef FIX_1119_SPLIT_RENDERING_VOIP + p_Cldfb_RealBuffer_Binaural, + p_Cldfb_ImagBuffer_Binaural, +#else Cldfb_RealBuffer_Binaural, Cldfb_ImagBuffer_Binaural, +#endif ( const int16_t )( ( BINAURAL_MAXBANDS * hIvasRend->sampleRateOut ) / 48000 ), tmpBinaural, 1, diff --git a/scripts/split_rendering/__init__.py b/scripts/split_rendering/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scripts/split_rendering/isar_bstool.py b/scripts/split_rendering/isar_bstool.py new file mode 100755 index 0000000000000000000000000000000000000000..735d221f494a9c614271d0ed44eabf1adb10fa26 --- /dev/null +++ b/scripts/split_rendering/isar_bstool.py @@ -0,0 +1,384 @@ +#!/usr/bin/env python3 + +""" + (C) 2022-2025 IVAS codec Public Collaboration with portions copyright Dolby International AB, Ericsson AB, + Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Huawei Technologies Co. LTD., + Koninklijke Philips N.V., Nippon Telegraph and Telephone Corporation, Nokia Technologies Oy, Orange, + Panasonic Holdings Corporation, Qualcomm Technologies, Inc., VoiceAge Corporation, and other + contributors to this repository. All Rights Reserved. + + This software is protected by copyright law and by international treaties. + The IVAS codec Public Collaboration consisting of Dolby International AB, Ericsson AB, + Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Huawei Technologies Co. LTD., + Koninklijke Philips N.V., Nippon Telegraph and Telephone Corporation, Nokia Technologies Oy, Orange, + Panasonic Holdings Corporation, Qualcomm Technologies, Inc., VoiceAge Corporation, and other + contributors to this repository retain full ownership rights in their respective contributions in + the software. This notice grants no license of any kind, including but not limited to patent + license, nor is any license granted by implication, estoppel or otherwise. + + Contributors are required to enter into the IVAS codec Public Collaboration agreement before making + contributions. + + This software is provided "AS IS", without any express or implied warranties. The software is in the + development stage. It is intended exclusively for experts who have experience with such software and + solely for the purpose of inspection. All implied warranties of non-infringement, merchantability + and fitness for a particular purpose are hereby disclaimed and excluded. + + Any dispute, controversy or claim arising under or in relation to providing this software shall be + submitted to and settled by the final, binding jurisdiction of the courts of Munich, Germany in + accordance with the laws of the Federal Republic of Germany excluding its conflict of law rules and + the United Nations Convention on Contracts on the International Sales of Goods. +""" + +from __future__ import annotations +import argparse +import math +import sys +from pathlib import Path + + +class IsarBstoolError(Exception): + pass + + +class IsarBitstream: + def __init__(self, file_path: Path) -> None: + self.file_path = file_path + + with open(file_path, "rb") as reader: + self.header = IsarFileHeader(reader) + self.frames = [] + + while reader.peek(1): + self.frames.append(IsarFileFrame(reader)) + + @property + def duration_seconds(self): + return self.num_frames * self.isar_frame_size_ms / 1000 + + @property + def duration_samples(self): + return int(self.duration_seconds * self.sample_rate) + + @property + def num_frames(self): + return len(self.frames) + + @property + def num_empty_frames(self): + return sum(frame.num_bits == 0 for frame in self.frames) + + @property + def sample_rate(self): + return self.header.sample_rate + + @property + def delay_ns(self): + return self.header.delay_ns + + @property + def delay_samples(self): + return round(self.header.delay_ns * self.sample_rate / 10**9) + + @property + def isar_frame_size_ms(self): + return self.header.isar_frame_size_ms + + @property + def isar_frame_size_samples(self): + return self.header.isar_frame_size_ms * self.sample_rate // 1000 + + @property + def pose_correction(self): + return self.header.pose_correction + + @property + def avg_bitrate_bps(self): + return sum(frame.num_bits for frame in self.frames) / self.duration_seconds + + @property + def avg_bitrate_non_empty_frames_bps(self): + return sum(frame.num_bits for frame in self.frames) / ( + (self.num_frames - self.num_empty_frames) * self.isar_frame_size_ms / 1000 + ) + + @property + def codec(self): + return self.header.codec + + @property + def codec_frame_size_ms(self): + return self.header.codec_frame_size_ms + + @property + def codec_frame_size_samples(self): + return self.header.codec_frame_size_ms * self.sample_rate // 1000 + + @property + def lc3plus_hires(self): + return self.header.lc3plus_hires + + def info(self): + return ( + "\n" + f"File : {self.file_path}\n" + f"Duration : {self.duration_seconds} s = {self.duration_samples} samples\n" + f"Frames : {self.num_frames} (incl. {self.num_empty_frames} empty)\n" + f"Sample Rate : {self.sample_rate} Hz\n" + f"Delay : {self.delay_ns} ns = {self.delay_samples} samples\n" + f"ISAR Frame Size : {self.isar_frame_size_ms} ms = {self.isar_frame_size_samples} samples\n" + f"Pose Correction : {self.pose_correction}\n" + f"Bitrate : {self.avg_bitrate_bps:.2f} bps (avg), {self.avg_bitrate_non_empty_frames_bps:.2f} bps (avg non-empty)\n" + f"Codec : {self.codec}\n" + f"Codec Frame Size : {self.codec_frame_size_ms} ms = {self.codec_frame_size_samples} samples\n" + f"LC3plus HIRES : {'ON' if self.lc3plus_hires else 'OFF'}\n" + ) + + def write(self, file_path: Path): + self.file_path = file_path + + with open(file_path, "wb") as writer: + writer.write(self.header.as_bytes) + + for frame in self.frames: + writer.write(frame.as_bytes) + + def trim(self, start_time_s: float, length_s: float | None = None) -> IsarBitstream: + if length_s is None: + length_s = self.duration_seconds + + start_time_ms = start_time_s * 1000 + length_ms = length_s * 1000 + + # Check for unusable values + if math.isinf(start_time_s) or math.isnan(start_time_s): + raise IsarBstoolError(f"start_time ({start_time_s} s) has unusable value") + if math.isinf(length_s) or math.isnan(length_s): + raise IsarBstoolError(f"length ({length_s} s) has unusable value") + + # Ensure times are not negative + if start_time_s < 0: + raise IsarBstoolError(f"start_time ({start_time_s} s) can't be negative") + if length_s < 0: + raise IsarBstoolError(f"length ({length_s} s) can't be negative") + + # We can only remove entire frames + if start_time_ms % self.isar_frame_size_ms != 0: + raise IsarBstoolError( + f"start_time ({start_time_s} s) must be an integer multiple of ISAR frame duration ({self.isar_frame_size_ms} ms)" + ) + if length_ms % self.isar_frame_size_ms != 0: + raise IsarBstoolError( + f"length ({length_s} s) must be an integer multiple of ISAR frame duration ({self.isar_frame_size_ms} ms)" + ) + + start_idx = int(start_time_ms / self.isar_frame_size_ms) + end_idx = start_idx + int(length_ms / self.isar_frame_size_ms) + self.frames = self.frames[start_idx : min(end_idx, len(self.frames))] + + return self + + def is_same_as(self, other: IsarBitstream) -> bool: + return self.header == other.header and self.frames == other.frames + + +class _AsBytes: + def __init__(self) -> None: + self.as_bytes = bytearray() + + def _read(self, reader, num_bytes): + bytes_ = reader.read(num_bytes) + self.as_bytes.extend(bytes_) + return bytes_ + + def __eq__(self, value: object, /) -> bool: + if not isinstance(value, _AsBytes): + return False + return self.as_bytes == value.as_bytes + + +class IsarFileHeader(_AsBytes): + def __init__(self, reader) -> None: + super().__init__() + + FILE_HEADER = b"MAIN_SPLITH" + file_header_top = self._read(reader, len(FILE_HEADER)) + if file_header_top != FILE_HEADER: + raise IsarBstoolError(f"Not a valid ISAR file: {reader.name}") + + self.delay_ns = _int_from_bytes(self._read(reader, 4)) + self.codec = _codec_from_bytes(self._read(reader, 4)) + self.pose_correction = _pose_corr_from_bytes(self._read(reader, 4)) + self.codec_frame_size_ms = _int_from_bytes(self._read(reader, 2)) + self.isar_frame_size_ms = _int_from_bytes(self._read(reader, 2)) + self.sample_rate = _int_from_bytes(self._read(reader, 4)) + self.lc3plus_hires = bool(_int_from_bytes(self._read(reader, 2))) + + +class IsarFileFrame(_AsBytes): + def __init__(self, reader) -> None: + super().__init__() + + FRAME_HEADER = b"SPLIT_FRAME" + frame_header = self._read(reader, len(FRAME_HEADER)) + if frame_header != FRAME_HEADER: + raise IsarBstoolError(f"Not a valid ISAR file: {reader.name}") + + version = _int_from_bytes(self._read(reader, 1)) + if version != 0: + raise IsarBstoolError( + f"Unupported version of ISAR file format: {reader.name}" + ) + + self.num_bits = _int_from_bytes(self._read(reader, 4)) + + payload_size = math.ceil(self.num_bits / 8) + self.payload = self._read(reader, payload_size) + + +###################################################################################### +# utilities +###################################################################################### + + +def _int_from_bytes(bytes_): + return int.from_bytes(bytes_, byteorder="little") + + +def _codec_from_bytes(bytes_): + # Refer to ISAR_SPLIT_REND_CODEC enum in C code + CODECS = ["LCLD", "LC3PLUS", "DEFAULT", "NONE"] + x = _int_from_bytes(bytes_) + + if x < len(CODECS): + return CODECS[x] + + return "UNKNOWN" + + +def _pose_corr_from_bytes(bytes_): + # Refer to ISAR_SPLIT_REND_POSE_CORRECTION_MODE enum in C code + POSE_CORR_MODES = ["NONE", "CLDFB"] + x = _int_from_bytes(bytes_) + + if x < len(POSE_CORR_MODES): + return POSE_CORR_MODES[x] + + return "UNKNOWN" + + +###################################################################################### +# subcommand functions +###################################################################################### + + +def _subcmd_info(args): + bs = IsarBitstream(args.file_in) + + match args.only: + case "duration_seconds": + print(bs.duration_seconds) + case "duration_samples": + print(bs.duration_samples) + case "num_frames": + print(bs.num_frames) + case "num_empty_frames": + print(bs.num_empty_frames) + case "sample_rate": + print(bs.sample_rate) + case "delay_ns": + print(bs.delay_ns) + case "delay_samples": + print(bs.delay_samples) + case "isar_frame_size_ms": + print(bs.isar_frame_size_ms) + case "isar_frame_size_samples": + print(bs.isar_frame_size_samples) + case "pose_correction": + print(bs.pose_correction) + case "avg_bitrate": + print(bs.avg_bitrate_bps) + case "avg_bitrate_non_empty_frames": + print(bs.avg_bitrate_non_empty_frames_bps) + case "codec": + print(bs.codec) + case "codec_frame_size_ms": + print(bs.codec_frame_size_ms) + case "codec_frame_size_samples": + print(bs.codec_frame_size_samples) + case "lc3plus_hires": + print("ON" if bs.lc3plus_hires else "OFF") + case None: + print(bs.info()) + case _: + raise IsarBstoolError(f"Not a valid parameter value: '{args.only}'") + + +def _subcmd_trim(args): + bs = IsarBitstream(args.file_in) + bs.trim(float(args.start_time), float(args.length) if args.length else None) + bs.write(args.file_out) + + +###################################################################################### +# main +###################################################################################### + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + prog="isar_bstool", + description="Utility for inspecting and modifying ISAR bitstreams", + ) + parser.set_defaults(func=lambda _: parser.print_help()) + subparsers = parser.add_subparsers(title="Commands") + + info = subparsers.add_parser("info", help="Print information about a bitstream") + info.add_argument("file_in", help="Path to input file") + info.add_argument( + "--only", + help="Print only a specific parameter", + default=None, + choices=[ + "duration_seconds", + "duration_samples", + "num_frames", + "num_empty_frames", + "sample_rate", + "delay_ns", + "delay_samples", + "isar_frame_size_ms", + "isar_frame_size_samples", + "pose_correction", + "avg_bitrate", + "avg_bitrate_non_empty_frames", + "codec", + "codec_frame_size_ms", + "codec_frame_size_samples", + "lc3plus_hires", + ], + ) + info.set_defaults(func=_subcmd_info) + + trim = subparsers.add_parser( + "trim", help="Remove initial frames from a bitstream file" + ) + trim.add_argument("file_in", help="Path to input file") + trim.add_argument("file_out", help="Path to output file") + trim.add_argument( + "start_time", + help="Start point (in s) from which content should be copied to the output.", + ) + trim.add_argument( + "--length", + help="Amount of time (in s) to copy to the output. If not given, content is copied until the end of the input is reached.", + default=None, + ) + trim.set_defaults(func=_subcmd_trim) + + args = parser.parse_args() + + try: + args.func(args) + except (FileNotFoundError, PermissionError, IsarBstoolError) as e: + print(e, file=sys.stderr) + sys.exit(1) diff --git a/scripts/trajectories/rotate_euler_quaternion_30s.csv b/scripts/trajectories/rotate_euler_quaternion_30s.csv new file mode 100644 index 0000000000000000000000000000000000000000..d4fdb053c187faf80d5aed0fc36c8d10eeeac4ee --- /dev/null +++ b/scripts/trajectories/rotate_euler_quaternion_30s.csv @@ -0,0 +1,6000 @@ +-3,360,0,0 +-3,359.1,0,0 +-3,358.2,0,0 +-3,357.3,0,0 +-3,356.4,0,0 +-3,355.5,0,0 +-3,354.6,0,0 +-3,353.7,0,0 +-3,352.8,0,0 +-3,351.9,0,0 +-3,351,0,0 +-3,350.1,0,0 +-3,349.2,0,0 +-3,348.3,0,0 +-3,347.4,0,0 +-3,346.5,0,0 +-3,345.6,0,0 +-3,344.7,0,0 +-3,343.8,0,0 +-3,342.9,0,0 +-3,342,0,0 +-3,341.1,0,0 +-3,340.2,0,0 +-3,339.2,0,0 +-3,338.3,0,0 +-3,337.4,0,0 +-3,336.5,0,0 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+-3,342,0,0 +-3,342.9,0,0 +-3,343.8,0,0 +-3,344.7,0,0 +-3,345.6,0,0 +-3,346.5,0,0 +-3,347.4,0,0 +-3,348.3,0,0 +-3,349.2,0,0 +-3,350.1,0,0 +-3,351,0,0 +-3,351.9,0,0 +-3,352.8,0,0 +-3,353.7,0,0 +-3,354.6,0,0 +-3,355.5,0,0 +-3,356.4,0,0 +-3,357.3,0,0 +-3,358.2,0,0 +-3,359.1,0,0 +-3,360,0,0 diff --git a/scripts/trajectories/rotate_euler_quaternion_5s.csv b/scripts/trajectories/rotate_euler_quaternion_5s.csv deleted file mode 100644 index 0052e3d7c7a49f78f8880e203ee2fd99b4c19f29..0000000000000000000000000000000000000000 --- a/scripts/trajectories/rotate_euler_quaternion_5s.csv +++ /dev/null @@ -1,1000 +0,0 @@ --3,360,0,0 --3,359.1,0,0 --3,358.2,0,0 --3,357.3,0,0 --3,356.4,0,0 --3,355.5,0,0 --3,354.6,0,0 --3,353.7,0,0 --3,352.8,0,0 --3,351.9,0,0 --3,351,0,0 --3,350.1,0,0 --3,349.2,0,0 --3,348.3,0,0 --3,347.4,0,0 --3,346.5,0,0 --3,345.6,0,0 --3,344.7,0,0 --3,343.8,0,0 --3,342.9,0,0 --3,342,0,0 --3,341.1,0,0 --3,340.2,0,0 --3,339.2,0,0 --3,338.3,0,0 --3,337.4,0,0 --3,336.5,0,0 --3,335.6,0,0 --3,334.7,0,0 --3,333.8,0,0 --3,332.9,0,0 --3,332,0,0 --3,331.1,0,0 --3,330.2,0,0 --3,329.3,0,0 --3,328.4,0,0 --3,327.5,0,0 --3,326.6,0,0 --3,325.7,0,0 --3,324.8,0,0 --3,323.9,0,0 --3,323,0,0 --3,322.1,0,0 --3,321.2,0,0 --3,320.3,0,0 --3,319.4,0,0 --3,318.5,0,0 --3,317.6,0,0 --3,316.7,0,0 --3,315.8,0,0 --3,314.9,0,0 --3,314,0,0 --3,313.1,0,0 --3,312.2,0,0 --3,311.3,0,0 --3,310.4,0,0 --3,309.5,0,0 --3,308.6,0,0 --3,307.7,0,0 --3,306.8,0,0 --3,305.9,0,0 --3,305,0,0 --3,304.1,0,0 --3,303.2,0,0 --3,302.3,0,0 --3,301.4,0,0 --3,300.5,0,0 --3,299.5,0,0 --3,298.6,0,0 --3,297.7,0,0 --3,296.8,0,0 --3,295.9,0,0 --3,295,0,0 --3,294.1,0,0 --3,293.2,0,0 --3,292.3,0,0 --3,291.4,0,0 --3,290.5,0,0 --3,289.6,0,0 --3,288.7,0,0 --3,287.8,0,0 --3,286.9,0,0 --3,286,0,0 --3,285.1,0,0 --3,284.2,0,0 --3,283.3,0,0 --3,282.4,0,0 --3,281.5,0,0 --3,280.6,0,0 --3,279.7,0,0 --3,278.8,0,0 --3,277.9,0,0 --3,277,0,0 --3,276.1,0,0 --3,275.2,0,0 --3,274.3,0,0 --3,273.4,0,0 --3,272.5,0,0 --3,271.6,0,0 --3,270.7,0,0 --3,269.8,0,0 --3,268.9,0,0 --3,268,0,0 --3,267.1,0,0 --3,266.2,0,0 --3,265.3,0,0 --3,264.4,0,0 --3,263.5,0,0 --3,262.6,0,0 --3,261.7,0,0 --3,260.8,0,0 --3,259.8,0,0 --3,258.9,0,0 --3,258,0,0 --3,257.1,0,0 --3,256.2,0,0 --3,255.3,0,0 --3,254.4,0,0 --3,253.5,0,0 --3,252.6,0,0 --3,251.7,0,0 --3,250.8,0,0 --3,249.9,0,0 --3,249,0,0 --3,248.1,0,0 --3,247.2,0,0 --3,246.3,0,0 --3,245.4,0,0 --3,244.5,0,0 --3,243.6,0,0 --3,242.7,0,0 --3,241.8,0,0 --3,240.9,0,0 --3,240,0,0 --3,239.1,0,0 --3,238.2,0,0 --3,237.3,0,0 --3,236.4,0,0 --3,235.5,0,0 --3,234.6,0,0 --3,233.7,0,0 --3,232.8,0,0 --3,231.9,0,0 --3,231,0,0 --3,230.1,0,0 --3,229.2,0,0 --3,228.3,0,0 --3,227.4,0,0 --3,226.5,0,0 --3,225.6,0,0 --3,224.7,0,0 --3,223.8,0,0 --3,222.9,0,0 --3,222,0,0 --3,221.1,0,0 --3,220.2,0,0 --3,219.2,0,0 --3,218.3,0,0 --3,217.4,0,0 --3,216.5,0,0 --3,215.6,0,0 --3,214.7,0,0 --3,213.8,0,0 --3,212.9,0,0 --3,212,0,0 --3,211.1,0,0 --3,210.2,0,0 --3,209.3,0,0 --3,208.4,0,0 --3,207.5,0,0 --3,206.6,0,0 --3,205.7,0,0 --3,204.8,0,0 --3,203.9,0,0 --3,203,0,0 --3,202.1,0,0 --3,201.2,0,0 --3,200.3,0,0 --3,199.4,0,0 --3,198.5,0,0 --3,197.6,0,0 --3,196.7,0,0 --3,195.8,0,0 --3,194.9,0,0 --3,194,0,0 --3,193.1,0,0 --3,192.2,0,0 --3,191.3,0,0 --3,190.4,0,0 --3,189.5,0,0 --3,188.6,0,0 --3,187.7,0,0 --3,186.8,0,0 --3,185.9,0,0 --3,185,0,0 --3,184.1,0,0 --3,183.2,0,0 --3,182.3,0,0 --3,181.4,0,0 --3,180.5,0,0 --3,179.5,-90,0 --3,178.6,-89.5,0 --3,177.7,-89.1,0 --3,176.8,-88.6,0 --3,175.9,-88.2,0 --3,175,-87.7,0 --3,174.1,-87.3,0 --3,173.2,-86.8,0 --3,172.3,-86.4,0 --3,171.4,-85.9,0 --3,170.5,-85.5,0 --3,169.6,-85,0 --3,168.7,-84.6,0 --3,167.8,-84.1,0 --3,166.9,-83.7,0 --3,166,-83.2,0 --3,165.1,-82.8,0 --3,164.2,-82.3,0 --3,163.3,-81.9,0 --3,162.4,-81.4,0 --3,161.5,-81,0 --3,160.6,-80.5,0 --3,159.7,-80.1,0 --3,158.8,-79.6,0 --3,157.9,-79.1,0 --3,157,-78.7,0 --3,156.1,-78.2,0 --3,155.2,-77.8,0 --3,154.3,-77.3,0 --3,153.4,-76.9,0 --3,152.5,-76.4,0 --3,151.6,-76,0 --3,150.7,-75.5,0 --3,149.8,-75.1,0 --3,148.9,-74.6,0 --3,148,-74.2,0 --3,147.1,-73.7,0 --3,146.2,-73.3,0 --3,145.3,-72.8,0 --3,144.4,-72.4,0 --3,143.5,-71.9,0 --3,142.6,-71.5,0 --3,141.7,-71,0 --3,140.8,-70.6,0 --3,139.8,-70.1,0 --3,138.9,-69.6,0 --3,138,-69.2,0 --3,137.1,-68.7,0 --3,136.2,-68.3,0 --3,135.3,-67.8,0 --3,134.4,-67.4,0 --3,133.5,-66.9,0 --3,132.6,-66.5,0 --3,131.7,-66,0 --3,130.8,-65.6,0 --3,129.9,-65.1,0 --3,129,-64.7,0 --3,128.1,-64.2,0 --3,127.2,-63.8,0 --3,126.3,-63.3,0 --3,125.4,-62.9,0 --3,124.5,-62.4,0 --3,123.6,-62,0 --3,122.7,-61.5,0 --3,121.8,-61.1,0 --3,120.9,-60.6,0 --3,120,-60.2,0 --3,119.1,-59.7,0 --3,118.2,-59.2,0 --3,117.3,-58.8,0 --3,116.4,-58.3,0 --3,115.5,-57.9,0 --3,114.6,-57.4,0 --3,113.7,-57,0 --3,112.8,-56.5,0 --3,111.9,-56.1,0 --3,111,-55.6,0 --3,110.1,-55.2,0 --3,109.2,-54.7,0 --3,108.3,-54.3,0 --3,107.4,-53.8,0 --3,106.5,-53.4,0 --3,105.6,-52.9,0 --3,104.7,-52.5,0 --3,103.8,-52,0 --3,102.9,-51.6,0 --3,102,-51.1,0 --3,101.1,-50.7,0 --3,100.2,-50.2,0 --3,99.2,-49.7,0 --3,98.3,-49.3,0 --3,97.4,-48.8,0 --3,96.5,-48.4,0 --3,95.6,-47.9,0 --3,94.7,-47.5,0 --3,93.8,-47,0 --3,92.9,-46.6,0 --3,92,-46.1,0 --3,91.1,-45.7,0 --3,90.2,-45.2,0 --3,89.3,-44.8,90 --3,88.4,-44.3,89.1 --3,87.5,-43.9,88.2 --3,86.6,-43.4,87.3 --3,85.7,-43,86.4 --3,84.8,-42.5,85.5 --3,83.9,-42.1,84.5 --3,83,-41.6,83.6 --3,82.1,-41.2,82.7 --3,81.2,-40.7,81.8 --3,80.3,-40.3,80.9 --3,79.4,-39.8,80 --3,78.5,-39.3,79.1 --3,77.6,-38.9,78.2 --3,76.7,-38.4,77.3 --3,75.8,-38,76.4 --3,74.9,-37.5,75.5 --3,74,-37.1,74.5 --3,73.1,-36.6,73.6 --3,72.2,-36.2,72.7 --3,71.3,-35.7,71.8 --3,70.4,-35.3,70.9 --3,69.5,-34.8,70 --3,68.6,-34.4,69.1 --3,67.7,-33.9,68.2 --3,66.8,-33.5,67.3 --3,65.9,-33,66.4 --3,65,-32.6,65.5 --3,64.1,-32.1,64.5 --3,63.2,-31.7,63.6 --3,62.3,-31.2,62.7 --3,61.4,-30.8,61.8 --3,60.5,-30.3,60.9 --3,59.5,-29.8,60 --3,58.6,-29.4,59.1 --3,57.7,-28.9,58.2 --3,56.8,-28.5,57.3 --3,55.9,-28,56.4 --3,55,-27.6,55.5 --3,54.1,-27.1,54.5 --3,53.2,-26.7,53.6 --3,52.3,-26.2,52.7 --3,51.4,-25.8,51.8 --3,50.5,-25.3,50.9 --3,49.6,-24.9,50 --3,48.7,-24.4,49.1 --3,47.8,-24,48.2 --3,46.9,-23.5,47.3 --3,46,-23.1,46.4 --3,45.1,-22.6,45.5 --3,44.2,-22.2,44.5 --3,43.3,-21.7,43.6 --3,42.4,-21.3,42.7 --3,41.5,-20.8,41.8 --3,40.6,-20.4,40.9 --3,39.7,-19.9,40 --3,38.8,-19.4,39.1 --3,37.9,-19,38.2 --3,37,-18.5,37.3 --3,36.1,-18.1,36.4 --3,35.2,-17.6,35.5 --3,34.3,-17.2,34.5 --3,33.4,-16.7,33.6 --3,32.5,-16.3,32.7 --3,31.6,-15.8,31.8 --3,30.7,-15.4,30.9 --3,29.8,-14.9,30 --3,28.9,-14.5,29.1 --3,28,-14,28.2 --3,27.1,-13.6,27.3 --3,26.2,-13.1,26.4 --3,25.3,-12.7,25.5 --3,24.4,-12.2,24.5 --3,23.5,-11.8,23.6 --3,22.6,-11.3,22.7 --3,21.7,-10.9,21.8 --3,20.8,-10.4,20.9 --3,19.8,-9.9,20 --3,18.9,-9.5,19.1 --3,18,-9,18.2 --3,17.1,-8.6,17.3 --3,16.2,-8.1,16.4 --3,15.3,-7.7,15.5 --3,14.4,-7.2,14.5 --3,13.5,-6.8,13.6 --3,12.6,-6.3,12.7 --3,11.7,-5.9,11.8 --3,10.8,-5.4,10.9 --3,9.9,-5,10 --3,9,-4.5,9.1 --3,8.1,-4.1,8.2 --3,7.2,-3.6,7.3 --3,6.3,-3.2,6.4 --3,5.4,-2.7,5.5 --3,4.5,-2.3,4.5 --3,3.6,-1.8,3.6 --3,2.7,-1.4,2.7 --3,1.8,-0.9,1.8 --3,0.9,-0.5,0.9 --3,0,0,0 -1,0,0,0 -1,0,0,0 -1,0,0,0 -1,0,0,0 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -0.9,0,0,0.3 -0.9,0,0,0.3 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.8,0,0,0.5 -0.8,0,0,0.5 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.5,0,0,0.8 -0.5,0,0,0.8 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.3,0,0,0.9 -0.3,0,0,0.9 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0,0,0,1 -0,0,0,1 -0,0,0,1 -0,0,0,1 -0,0,0,1 -0,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,0.9 -0.3,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.8 -0.5,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.7,0,0,0.8 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.8,0,0,0.7 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.5 -0.8,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.3 -0.9,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0 -1,0,0,0 -1,0,0,0 -1,0,0,0 --3,0,0,0 --3,0.9,-0.5,0.9 --3,1.8,-0.9,1.8 --3,2.7,-1.4,2.7 --3,3.6,-1.8,3.6 --3,4.5,-2.3,4.5 --3,5.4,-2.7,5.5 --3,6.3,-3.2,6.4 --3,7.2,-3.6,7.3 --3,8.1,-4.1,8.2 --3,9,-4.5,9.1 --3,9.9,-5,10 --3,10.8,-5.4,10.9 --3,11.7,-5.9,11.8 --3,12.6,-6.3,12.7 --3,13.5,-6.8,13.6 --3,14.4,-7.2,14.5 --3,15.3,-7.7,15.5 --3,16.2,-8.1,16.4 --3,17.1,-8.6,17.3 --3,18,-9,18.2 --3,18.9,-9.5,19.1 --3,19.8,-9.9,20 --3,20.8,-10.4,20.9 --3,21.7,-10.9,21.8 --3,22.6,-11.3,22.7 --3,23.5,-11.8,23.6 --3,24.4,-12.2,24.5 --3,25.3,-12.7,25.5 --3,26.2,-13.1,26.4 --3,27.1,-13.6,27.3 --3,28,-14,28.2 --3,28.9,-14.5,29.1 --3,29.8,-14.9,30 --3,30.7,-15.4,30.9 --3,31.6,-15.8,31.8 --3,32.5,-16.3,32.7 --3,33.4,-16.7,33.6 --3,34.3,-17.2,34.5 --3,35.2,-17.6,35.5 --3,36.1,-18.1,36.4 --3,37,-18.5,37.3 --3,37.9,-19,38.2 --3,38.8,-19.4,39.1 --3,39.7,-19.9,40 --3,40.6,-20.4,40.9 --3,41.5,-20.8,41.8 --3,42.4,-21.3,42.7 --3,43.3,-21.7,43.6 --3,44.2,-22.2,44.5 --3,45.1,-22.6,45.5 --3,46,-23.1,46.4 --3,46.9,-23.5,47.3 --3,47.8,-24,48.2 --3,48.7,-24.4,49.1 --3,49.6,-24.9,50 --3,50.5,-25.3,50.9 --3,51.4,-25.8,51.8 --3,52.3,-26.2,52.7 --3,53.2,-26.7,53.6 --3,54.1,-27.1,54.5 --3,55,-27.6,55.5 --3,55.9,-28,56.4 --3,56.8,-28.5,57.3 --3,57.7,-28.9,58.2 --3,58.6,-29.4,59.1 --3,59.5,-29.8,60 --3,60.5,-30.3,60.9 --3,61.4,-30.8,61.8 --3,62.3,-31.2,62.7 --3,63.2,-31.7,63.6 --3,64.1,-32.1,64.5 --3,65,-32.6,65.5 --3,65.9,-33,66.4 --3,66.8,-33.5,67.3 --3,67.7,-33.9,68.2 --3,68.6,-34.4,69.1 --3,69.5,-34.8,70 --3,70.4,-35.3,70.9 --3,71.3,-35.7,71.8 --3,72.2,-36.2,72.7 --3,73.1,-36.6,73.6 --3,74,-37.1,74.5 --3,74.9,-37.5,75.5 --3,75.8,-38,76.4 --3,76.7,-38.4,77.3 --3,77.6,-38.9,78.2 --3,78.5,-39.3,79.1 --3,79.4,-39.8,80 --3,80.3,-40.3,80.9 --3,81.2,-40.7,81.8 --3,82.1,-41.2,82.7 --3,83,-41.6,83.6 --3,83.9,-42.1,84.5 --3,84.8,-42.5,85.5 --3,85.7,-43,86.4 --3,86.6,-43.4,87.3 --3,87.5,-43.9,88.2 --3,88.4,-44.3,89.1 --3,89.3,-44.8,90 --3,90.2,-45.2,0 --3,91.1,-45.7,0 --3,92,-46.1,0 --3,92.9,-46.6,0 --3,93.8,-47,0 --3,94.7,-47.5,0 --3,95.6,-47.9,0 --3,96.5,-48.4,0 --3,97.4,-48.8,0 --3,98.3,-49.3,0 --3,99.2,-49.7,0 --3,100.2,-50.2,0 --3,101.1,-50.7,0 --3,102,-51.1,0 --3,102.9,-51.6,0 --3,103.8,-52,0 --3,104.7,-52.5,0 --3,105.6,-52.9,0 --3,106.5,-53.4,0 --3,107.4,-53.8,0 --3,108.3,-54.3,0 --3,109.2,-54.7,0 --3,110.1,-55.2,0 --3,111,-55.6,0 --3,111.9,-56.1,0 --3,112.8,-56.5,0 --3,113.7,-57,0 --3,114.6,-57.4,0 --3,115.5,-57.9,0 --3,116.4,-58.3,0 --3,117.3,-58.8,0 --3,118.2,-59.2,0 --3,119.1,-59.7,0 --3,120,-60.2,0 --3,120.9,-60.6,0 --3,121.8,-61.1,0 --3,122.7,-61.5,0 --3,123.6,-62,0 --3,124.5,-62.4,0 --3,125.4,-62.9,0 --3,126.3,-63.3,0 --3,127.2,-63.8,0 --3,128.1,-64.2,0 --3,129,-64.7,0 --3,129.9,-65.1,0 --3,130.8,-65.6,0 --3,131.7,-66,0 --3,132.6,-66.5,0 --3,133.5,-66.9,0 --3,134.4,-67.4,0 --3,135.3,-67.8,0 --3,136.2,-68.3,0 --3,137.1,-68.7,0 --3,138,-69.2,0 --3,138.9,-69.6,0 --3,139.8,-70.1,0 --3,140.8,-70.6,0 --3,141.7,-71,0 --3,142.6,-71.5,0 --3,143.5,-71.9,0 --3,144.4,-72.4,0 --3,145.3,-72.8,0 --3,146.2,-73.3,0 --3,147.1,-73.7,0 --3,148,-74.2,0 --3,148.9,-74.6,0 --3,149.8,-75.1,0 --3,150.7,-75.5,0 --3,151.6,-76,0 --3,152.5,-76.4,0 --3,153.4,-76.9,0 --3,154.3,-77.3,0 --3,155.2,-77.8,0 --3,156.1,-78.2,0 --3,157,-78.7,0 --3,157.9,-79.1,0 --3,158.8,-79.6,0 --3,159.7,-80.1,0 --3,160.6,-80.5,0 --3,161.5,-81,0 --3,162.4,-81.4,0 --3,163.3,-81.9,0 --3,164.2,-82.3,0 --3,165.1,-82.8,0 --3,166,-83.2,0 --3,166.9,-83.7,0 --3,167.8,-84.1,0 --3,168.7,-84.6,0 --3,169.6,-85,0 --3,170.5,-85.5,0 --3,171.4,-85.9,0 --3,172.3,-86.4,0 --3,173.2,-86.8,0 --3,174.1,-87.3,0 --3,175,-87.7,0 --3,175.9,-88.2,0 --3,176.8,-88.6,0 --3,177.7,-89.1,0 --3,178.6,-89.5,0 --3,179.5,-90,0 --3,180.5,0,0 --3,181.4,0,0 --3,182.3,0,0 --3,183.2,0,0 --3,184.1,0,0 --3,185,0,0 --3,185.9,0,0 --3,186.8,0,0 --3,187.7,0,0 --3,188.6,0,0 --3,189.5,0,0 --3,190.4,0,0 --3,191.3,0,0 --3,192.2,0,0 --3,193.1,0,0 --3,194,0,0 --3,194.9,0,0 --3,195.8,0,0 --3,196.7,0,0 --3,197.6,0,0 --3,198.5,0,0 --3,199.4,0,0 --3,200.3,0,0 --3,201.2,0,0 --3,202.1,0,0 --3,203,0,0 --3,203.9,0,0 --3,204.8,0,0 --3,205.7,0,0 --3,206.6,0,0 --3,207.5,0,0 --3,208.4,0,0 --3,209.3,0,0 --3,210.2,0,0 --3,211.1,0,0 --3,212,0,0 --3,212.9,0,0 --3,213.8,0,0 --3,214.7,0,0 --3,215.6,0,0 --3,216.5,0,0 --3,217.4,0,0 --3,218.3,0,0 --3,219.2,0,0 --3,220.2,0,0 --3,221.1,0,0 --3,222,0,0 --3,222.9,0,0 --3,223.8,0,0 --3,224.7,0,0 --3,225.6,0,0 --3,226.5,0,0 --3,227.4,0,0 --3,228.3,0,0 --3,229.2,0,0 --3,230.1,0,0 --3,231,0,0 --3,231.9,0,0 --3,232.8,0,0 --3,233.7,0,0 --3,234.6,0,0 --3,235.5,0,0 --3,236.4,0,0 --3,237.3,0,0 --3,238.2,0,0 --3,239.1,0,0 --3,240,0,0 --3,240.9,0,0 --3,241.8,0,0 --3,242.7,0,0 --3,243.6,0,0 --3,244.5,0,0 --3,245.4,0,0 --3,246.3,0,0 --3,247.2,0,0 --3,248.1,0,0 --3,249,0,0 --3,249.9,0,0 --3,250.8,0,0 --3,251.7,0,0 --3,252.6,0,0 --3,253.5,0,0 --3,254.4,0,0 --3,255.3,0,0 --3,256.2,0,0 --3,257.1,0,0 --3,258,0,0 --3,258.9,0,0 --3,259.8,0,0 --3,260.8,0,0 --3,261.7,0,0 --3,262.6,0,0 --3,263.5,0,0 --3,264.4,0,0 --3,265.3,0,0 --3,266.2,0,0 --3,267.1,0,0 --3,268,0,0 --3,268.9,0,0 --3,269.8,0,0 --3,270.7,0,0 --3,271.6,0,0 --3,272.5,0,0 --3,273.4,0,0 --3,274.3,0,0 --3,275.2,0,0 --3,276.1,0,0 --3,277,0,0 --3,277.9,0,0 --3,278.8,0,0 --3,279.7,0,0 --3,280.6,0,0 --3,281.5,0,0 --3,282.4,0,0 --3,283.3,0,0 --3,284.2,0,0 --3,285.1,0,0 --3,286,0,0 --3,286.9,0,0 --3,287.8,0,0 --3,288.7,0,0 --3,289.6,0,0 --3,290.5,0,0 --3,291.4,0,0 --3,292.3,0,0 --3,293.2,0,0 --3,294.1,0,0 --3,295,0,0 --3,295.9,0,0 --3,296.8,0,0 --3,297.7,0,0 --3,298.6,0,0 --3,299.5,0,0 --3,300.5,0,0 --3,301.4,0,0 --3,302.3,0,0 --3,303.2,0,0 --3,304.1,0,0 --3,305,0,0 --3,305.9,0,0 --3,306.8,0,0 --3,307.7,0,0 --3,308.6,0,0 --3,309.5,0,0 --3,310.4,0,0 --3,311.3,0,0 --3,312.2,0,0 --3,313.1,0,0 --3,314,0,0 --3,314.9,0,0 --3,315.8,0,0 --3,316.7,0,0 --3,317.6,0,0 --3,318.5,0,0 --3,319.4,0,0 --3,320.3,0,0 --3,321.2,0,0 --3,322.1,0,0 --3,323,0,0 --3,323.9,0,0 --3,324.8,0,0 --3,325.7,0,0 --3,326.6,0,0 --3,327.5,0,0 --3,328.4,0,0 --3,329.3,0,0 --3,330.2,0,0 --3,331.1,0,0 --3,332,0,0 --3,332.9,0,0 --3,333.8,0,0 --3,334.7,0,0 --3,335.6,0,0 --3,336.5,0,0 --3,337.4,0,0 --3,338.3,0,0 --3,339.2,0,0 --3,340.2,0,0 --3,341.1,0,0 --3,342,0,0 --3,342.9,0,0 --3,343.8,0,0 --3,344.7,0,0 --3,345.6,0,0 --3,346.5,0,0 --3,347.4,0,0 --3,348.3,0,0 --3,349.2,0,0 --3,350.1,0,0 --3,351,0,0 --3,351.9,0,0 --3,352.8,0,0 --3,353.7,0,0 --3,354.6,0,0 --3,355.5,0,0 --3,356.4,0,0 --3,357.3,0,0 --3,358.2,0,0 --3,359.1,0,0 --3,360,0,0 diff --git a/scripts/trajectories/rotate_euler_quaternion_5s_delayed.csv b/scripts/trajectories/rotate_euler_quaternion_5s_delayed.csv deleted file mode 100644 index 99c54e3c52a9252d38520920c392e0df553611e1..0000000000000000000000000000000000000000 --- a/scripts/trajectories/rotate_euler_quaternion_5s_delayed.csv +++ /dev/null @@ -1,1020 +0,0 @@ --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,360,0,0 --3,359.1,0,0 --3,358.2,0,0 --3,357.3,0,0 --3,356.4,0,0 --3,355.5,0,0 --3,354.6,0,0 --3,353.7,0,0 --3,352.8,0,0 --3,351.9,0,0 --3,351,0,0 --3,350.1,0,0 --3,349.2,0,0 --3,348.3,0,0 --3,347.4,0,0 --3,346.5,0,0 --3,345.6,0,0 --3,344.7,0,0 --3,343.8,0,0 --3,342.9,0,0 --3,342,0,0 --3,341.1,0,0 --3,340.2,0,0 --3,339.2,0,0 --3,338.3,0,0 --3,337.4,0,0 --3,336.5,0,0 --3,335.6,0,0 --3,334.7,0,0 --3,333.8,0,0 --3,332.9,0,0 --3,332,0,0 --3,331.1,0,0 --3,330.2,0,0 --3,329.3,0,0 --3,328.4,0,0 --3,327.5,0,0 --3,326.6,0,0 --3,325.7,0,0 --3,324.8,0,0 --3,323.9,0,0 --3,323,0,0 --3,322.1,0,0 --3,321.2,0,0 --3,320.3,0,0 --3,319.4,0,0 --3,318.5,0,0 --3,317.6,0,0 --3,316.7,0,0 --3,315.8,0,0 --3,314.9,0,0 --3,314,0,0 --3,313.1,0,0 --3,312.2,0,0 --3,311.3,0,0 --3,310.4,0,0 --3,309.5,0,0 --3,308.6,0,0 --3,307.7,0,0 --3,306.8,0,0 --3,305.9,0,0 --3,305,0,0 --3,304.1,0,0 --3,303.2,0,0 --3,302.3,0,0 --3,301.4,0,0 --3,300.5,0,0 --3,299.5,0,0 --3,298.6,0,0 --3,297.7,0,0 --3,296.8,0,0 --3,295.9,0,0 --3,295,0,0 --3,294.1,0,0 --3,293.2,0,0 --3,292.3,0,0 --3,291.4,0,0 --3,290.5,0,0 --3,289.6,0,0 --3,288.7,0,0 --3,287.8,0,0 --3,286.9,0,0 --3,286,0,0 --3,285.1,0,0 --3,284.2,0,0 --3,283.3,0,0 --3,282.4,0,0 --3,281.5,0,0 --3,280.6,0,0 --3,279.7,0,0 --3,278.8,0,0 --3,277.9,0,0 --3,277,0,0 --3,276.1,0,0 --3,275.2,0,0 --3,274.3,0,0 --3,273.4,0,0 --3,272.5,0,0 --3,271.6,0,0 --3,270.7,0,0 --3,269.8,0,0 --3,268.9,0,0 --3,268,0,0 --3,267.1,0,0 --3,266.2,0,0 --3,265.3,0,0 --3,264.4,0,0 --3,263.5,0,0 --3,262.6,0,0 --3,261.7,0,0 --3,260.8,0,0 --3,259.8,0,0 --3,258.9,0,0 --3,258,0,0 --3,257.1,0,0 --3,256.2,0,0 --3,255.3,0,0 --3,254.4,0,0 --3,253.5,0,0 --3,252.6,0,0 --3,251.7,0,0 --3,250.8,0,0 --3,249.9,0,0 --3,249,0,0 --3,248.1,0,0 --3,247.2,0,0 --3,246.3,0,0 --3,245.4,0,0 --3,244.5,0,0 --3,243.6,0,0 --3,242.7,0,0 --3,241.8,0,0 --3,240.9,0,0 --3,240,0,0 --3,239.1,0,0 --3,238.2,0,0 --3,237.3,0,0 --3,236.4,0,0 --3,235.5,0,0 --3,234.6,0,0 --3,233.7,0,0 --3,232.8,0,0 --3,231.9,0,0 --3,231,0,0 --3,230.1,0,0 --3,229.2,0,0 --3,228.3,0,0 --3,227.4,0,0 --3,226.5,0,0 --3,225.6,0,0 --3,224.7,0,0 --3,223.8,0,0 --3,222.9,0,0 --3,222,0,0 --3,221.1,0,0 --3,220.2,0,0 --3,219.2,0,0 --3,218.3,0,0 --3,217.4,0,0 --3,216.5,0,0 --3,215.6,0,0 --3,214.7,0,0 --3,213.8,0,0 --3,212.9,0,0 --3,212,0,0 --3,211.1,0,0 --3,210.2,0,0 --3,209.3,0,0 --3,208.4,0,0 --3,207.5,0,0 --3,206.6,0,0 --3,205.7,0,0 --3,204.8,0,0 --3,203.9,0,0 --3,203,0,0 --3,202.1,0,0 --3,201.2,0,0 --3,200.3,0,0 --3,199.4,0,0 --3,198.5,0,0 --3,197.6,0,0 --3,196.7,0,0 --3,195.8,0,0 --3,194.9,0,0 --3,194,0,0 --3,193.1,0,0 --3,192.2,0,0 --3,191.3,0,0 --3,190.4,0,0 --3,189.5,0,0 --3,188.6,0,0 --3,187.7,0,0 --3,186.8,0,0 --3,185.9,0,0 --3,185,0,0 --3,184.1,0,0 --3,183.2,0,0 --3,182.3,0,0 --3,181.4,0,0 --3,180.5,0,0 --3,179.5,-90,0 --3,178.6,-89.5,0 --3,177.7,-89.1,0 --3,176.8,-88.6,0 --3,175.9,-88.2,0 --3,175,-87.7,0 --3,174.1,-87.3,0 --3,173.2,-86.8,0 --3,172.3,-86.4,0 --3,171.4,-85.9,0 --3,170.5,-85.5,0 --3,169.6,-85,0 --3,168.7,-84.6,0 --3,167.8,-84.1,0 --3,166.9,-83.7,0 --3,166,-83.2,0 --3,165.1,-82.8,0 --3,164.2,-82.3,0 --3,163.3,-81.9,0 --3,162.4,-81.4,0 --3,161.5,-81,0 --3,160.6,-80.5,0 --3,159.7,-80.1,0 --3,158.8,-79.6,0 --3,157.9,-79.1,0 --3,157,-78.7,0 --3,156.1,-78.2,0 --3,155.2,-77.8,0 --3,154.3,-77.3,0 --3,153.4,-76.9,0 --3,152.5,-76.4,0 --3,151.6,-76,0 --3,150.7,-75.5,0 --3,149.8,-75.1,0 --3,148.9,-74.6,0 --3,148,-74.2,0 --3,147.1,-73.7,0 --3,146.2,-73.3,0 --3,145.3,-72.8,0 --3,144.4,-72.4,0 --3,143.5,-71.9,0 --3,142.6,-71.5,0 --3,141.7,-71,0 --3,140.8,-70.6,0 --3,139.8,-70.1,0 --3,138.9,-69.6,0 --3,138,-69.2,0 --3,137.1,-68.7,0 --3,136.2,-68.3,0 --3,135.3,-67.8,0 --3,134.4,-67.4,0 --3,133.5,-66.9,0 --3,132.6,-66.5,0 --3,131.7,-66,0 --3,130.8,-65.6,0 --3,129.9,-65.1,0 --3,129,-64.7,0 --3,128.1,-64.2,0 --3,127.2,-63.8,0 --3,126.3,-63.3,0 --3,125.4,-62.9,0 --3,124.5,-62.4,0 --3,123.6,-62,0 --3,122.7,-61.5,0 --3,121.8,-61.1,0 --3,120.9,-60.6,0 --3,120,-60.2,0 --3,119.1,-59.7,0 --3,118.2,-59.2,0 --3,117.3,-58.8,0 --3,116.4,-58.3,0 --3,115.5,-57.9,0 --3,114.6,-57.4,0 --3,113.7,-57,0 --3,112.8,-56.5,0 --3,111.9,-56.1,0 --3,111,-55.6,0 --3,110.1,-55.2,0 --3,109.2,-54.7,0 --3,108.3,-54.3,0 --3,107.4,-53.8,0 --3,106.5,-53.4,0 --3,105.6,-52.9,0 --3,104.7,-52.5,0 --3,103.8,-52,0 --3,102.9,-51.6,0 --3,102,-51.1,0 --3,101.1,-50.7,0 --3,100.2,-50.2,0 --3,99.2,-49.7,0 --3,98.3,-49.3,0 --3,97.4,-48.8,0 --3,96.5,-48.4,0 --3,95.6,-47.9,0 --3,94.7,-47.5,0 --3,93.8,-47,0 --3,92.9,-46.6,0 --3,92,-46.1,0 --3,91.1,-45.7,0 --3,90.2,-45.2,0 --3,89.3,-44.8,90 --3,88.4,-44.3,89.1 --3,87.5,-43.9,88.2 --3,86.6,-43.4,87.3 --3,85.7,-43,86.4 --3,84.8,-42.5,85.5 --3,83.9,-42.1,84.5 --3,83,-41.6,83.6 --3,82.1,-41.2,82.7 --3,81.2,-40.7,81.8 --3,80.3,-40.3,80.9 --3,79.4,-39.8,80 --3,78.5,-39.3,79.1 --3,77.6,-38.9,78.2 --3,76.7,-38.4,77.3 --3,75.8,-38,76.4 --3,74.9,-37.5,75.5 --3,74,-37.1,74.5 --3,73.1,-36.6,73.6 --3,72.2,-36.2,72.7 --3,71.3,-35.7,71.8 --3,70.4,-35.3,70.9 --3,69.5,-34.8,70 --3,68.6,-34.4,69.1 --3,67.7,-33.9,68.2 --3,66.8,-33.5,67.3 --3,65.9,-33,66.4 --3,65,-32.6,65.5 --3,64.1,-32.1,64.5 --3,63.2,-31.7,63.6 --3,62.3,-31.2,62.7 --3,61.4,-30.8,61.8 --3,60.5,-30.3,60.9 --3,59.5,-29.8,60 --3,58.6,-29.4,59.1 --3,57.7,-28.9,58.2 --3,56.8,-28.5,57.3 --3,55.9,-28,56.4 --3,55,-27.6,55.5 --3,54.1,-27.1,54.5 --3,53.2,-26.7,53.6 --3,52.3,-26.2,52.7 --3,51.4,-25.8,51.8 --3,50.5,-25.3,50.9 --3,49.6,-24.9,50 --3,48.7,-24.4,49.1 --3,47.8,-24,48.2 --3,46.9,-23.5,47.3 --3,46,-23.1,46.4 --3,45.1,-22.6,45.5 --3,44.2,-22.2,44.5 --3,43.3,-21.7,43.6 --3,42.4,-21.3,42.7 --3,41.5,-20.8,41.8 --3,40.6,-20.4,40.9 --3,39.7,-19.9,40 --3,38.8,-19.4,39.1 --3,37.9,-19,38.2 --3,37,-18.5,37.3 --3,36.1,-18.1,36.4 --3,35.2,-17.6,35.5 --3,34.3,-17.2,34.5 --3,33.4,-16.7,33.6 --3,32.5,-16.3,32.7 --3,31.6,-15.8,31.8 --3,30.7,-15.4,30.9 --3,29.8,-14.9,30 --3,28.9,-14.5,29.1 --3,28,-14,28.2 --3,27.1,-13.6,27.3 --3,26.2,-13.1,26.4 --3,25.3,-12.7,25.5 --3,24.4,-12.2,24.5 --3,23.5,-11.8,23.6 --3,22.6,-11.3,22.7 --3,21.7,-10.9,21.8 --3,20.8,-10.4,20.9 --3,19.8,-9.9,20 --3,18.9,-9.5,19.1 --3,18,-9,18.2 --3,17.1,-8.6,17.3 --3,16.2,-8.1,16.4 --3,15.3,-7.7,15.5 --3,14.4,-7.2,14.5 --3,13.5,-6.8,13.6 --3,12.6,-6.3,12.7 --3,11.7,-5.9,11.8 --3,10.8,-5.4,10.9 --3,9.9,-5,10 --3,9,-4.5,9.1 --3,8.1,-4.1,8.2 --3,7.2,-3.6,7.3 --3,6.3,-3.2,6.4 --3,5.4,-2.7,5.5 --3,4.5,-2.3,4.5 --3,3.6,-1.8,3.6 --3,2.7,-1.4,2.7 --3,1.8,-0.9,1.8 --3,0.9,-0.5,0.9 --3,0,0,0 -1,0,0,0 -1,0,0,0 -1,0,0,0 -1,0,0,0 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -0.9,0,0,0.3 -0.9,0,0,0.3 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.8,0,0,0.5 -0.8,0,0,0.5 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.5,0,0,0.8 -0.5,0,0,0.8 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.3,0,0,0.9 -0.3,0,0,0.9 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0,0,0,1 -0,0,0,1 -0,0,0,1 -0,0,0,1 -0,0,0,1 -0,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.1,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.2,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,1 -0.3,0,0,0.9 -0.3,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.4,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.9 -0.5,0,0,0.8 -0.5,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.6,0,0,0.8 -0.7,0,0,0.8 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.7,0,0,0.7 -0.8,0,0,0.7 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.6 -0.8,0,0,0.5 -0.8,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.5 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.4 -0.9,0,0,0.3 -0.9,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.3 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.2 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0.1 -1,0,0,0 -1,0,0,0 -1,0,0,0 -1,0,0,0 --3,0,0,0 --3,0.9,-0.5,0.9 --3,1.8,-0.9,1.8 --3,2.7,-1.4,2.7 --3,3.6,-1.8,3.6 --3,4.5,-2.3,4.5 --3,5.4,-2.7,5.5 --3,6.3,-3.2,6.4 --3,7.2,-3.6,7.3 --3,8.1,-4.1,8.2 --3,9,-4.5,9.1 --3,9.9,-5,10 --3,10.8,-5.4,10.9 --3,11.7,-5.9,11.8 --3,12.6,-6.3,12.7 --3,13.5,-6.8,13.6 --3,14.4,-7.2,14.5 --3,15.3,-7.7,15.5 --3,16.2,-8.1,16.4 --3,17.1,-8.6,17.3 --3,18,-9,18.2 --3,18.9,-9.5,19.1 --3,19.8,-9.9,20 --3,20.8,-10.4,20.9 --3,21.7,-10.9,21.8 --3,22.6,-11.3,22.7 --3,23.5,-11.8,23.6 --3,24.4,-12.2,24.5 --3,25.3,-12.7,25.5 --3,26.2,-13.1,26.4 --3,27.1,-13.6,27.3 --3,28,-14,28.2 --3,28.9,-14.5,29.1 --3,29.8,-14.9,30 --3,30.7,-15.4,30.9 --3,31.6,-15.8,31.8 --3,32.5,-16.3,32.7 --3,33.4,-16.7,33.6 --3,34.3,-17.2,34.5 --3,35.2,-17.6,35.5 --3,36.1,-18.1,36.4 --3,37,-18.5,37.3 --3,37.9,-19,38.2 --3,38.8,-19.4,39.1 --3,39.7,-19.9,40 --3,40.6,-20.4,40.9 --3,41.5,-20.8,41.8 --3,42.4,-21.3,42.7 --3,43.3,-21.7,43.6 --3,44.2,-22.2,44.5 --3,45.1,-22.6,45.5 --3,46,-23.1,46.4 --3,46.9,-23.5,47.3 --3,47.8,-24,48.2 --3,48.7,-24.4,49.1 --3,49.6,-24.9,50 --3,50.5,-25.3,50.9 --3,51.4,-25.8,51.8 --3,52.3,-26.2,52.7 --3,53.2,-26.7,53.6 --3,54.1,-27.1,54.5 --3,55,-27.6,55.5 --3,55.9,-28,56.4 --3,56.8,-28.5,57.3 --3,57.7,-28.9,58.2 --3,58.6,-29.4,59.1 --3,59.5,-29.8,60 --3,60.5,-30.3,60.9 --3,61.4,-30.8,61.8 --3,62.3,-31.2,62.7 --3,63.2,-31.7,63.6 --3,64.1,-32.1,64.5 --3,65,-32.6,65.5 --3,65.9,-33,66.4 --3,66.8,-33.5,67.3 --3,67.7,-33.9,68.2 --3,68.6,-34.4,69.1 --3,69.5,-34.8,70 --3,70.4,-35.3,70.9 --3,71.3,-35.7,71.8 --3,72.2,-36.2,72.7 --3,73.1,-36.6,73.6 --3,74,-37.1,74.5 --3,74.9,-37.5,75.5 --3,75.8,-38,76.4 --3,76.7,-38.4,77.3 --3,77.6,-38.9,78.2 --3,78.5,-39.3,79.1 --3,79.4,-39.8,80 --3,80.3,-40.3,80.9 --3,81.2,-40.7,81.8 --3,82.1,-41.2,82.7 --3,83,-41.6,83.6 --3,83.9,-42.1,84.5 --3,84.8,-42.5,85.5 --3,85.7,-43,86.4 --3,86.6,-43.4,87.3 --3,87.5,-43.9,88.2 --3,88.4,-44.3,89.1 --3,89.3,-44.8,90 --3,90.2,-45.2,0 --3,91.1,-45.7,0 --3,92,-46.1,0 --3,92.9,-46.6,0 --3,93.8,-47,0 --3,94.7,-47.5,0 --3,95.6,-47.9,0 --3,96.5,-48.4,0 --3,97.4,-48.8,0 --3,98.3,-49.3,0 --3,99.2,-49.7,0 --3,100.2,-50.2,0 --3,101.1,-50.7,0 --3,102,-51.1,0 --3,102.9,-51.6,0 --3,103.8,-52,0 --3,104.7,-52.5,0 --3,105.6,-52.9,0 --3,106.5,-53.4,0 --3,107.4,-53.8,0 --3,108.3,-54.3,0 --3,109.2,-54.7,0 --3,110.1,-55.2,0 --3,111,-55.6,0 --3,111.9,-56.1,0 --3,112.8,-56.5,0 --3,113.7,-57,0 --3,114.6,-57.4,0 --3,115.5,-57.9,0 --3,116.4,-58.3,0 --3,117.3,-58.8,0 --3,118.2,-59.2,0 --3,119.1,-59.7,0 --3,120,-60.2,0 --3,120.9,-60.6,0 --3,121.8,-61.1,0 --3,122.7,-61.5,0 --3,123.6,-62,0 --3,124.5,-62.4,0 --3,125.4,-62.9,0 --3,126.3,-63.3,0 --3,127.2,-63.8,0 --3,128.1,-64.2,0 --3,129,-64.7,0 --3,129.9,-65.1,0 --3,130.8,-65.6,0 --3,131.7,-66,0 --3,132.6,-66.5,0 --3,133.5,-66.9,0 --3,134.4,-67.4,0 --3,135.3,-67.8,0 --3,136.2,-68.3,0 --3,137.1,-68.7,0 --3,138,-69.2,0 --3,138.9,-69.6,0 --3,139.8,-70.1,0 --3,140.8,-70.6,0 --3,141.7,-71,0 --3,142.6,-71.5,0 --3,143.5,-71.9,0 --3,144.4,-72.4,0 --3,145.3,-72.8,0 --3,146.2,-73.3,0 --3,147.1,-73.7,0 --3,148,-74.2,0 --3,148.9,-74.6,0 --3,149.8,-75.1,0 --3,150.7,-75.5,0 --3,151.6,-76,0 --3,152.5,-76.4,0 --3,153.4,-76.9,0 --3,154.3,-77.3,0 --3,155.2,-77.8,0 --3,156.1,-78.2,0 --3,157,-78.7,0 --3,157.9,-79.1,0 --3,158.8,-79.6,0 --3,159.7,-80.1,0 --3,160.6,-80.5,0 --3,161.5,-81,0 --3,162.4,-81.4,0 --3,163.3,-81.9,0 --3,164.2,-82.3,0 --3,165.1,-82.8,0 --3,166,-83.2,0 --3,166.9,-83.7,0 --3,167.8,-84.1,0 --3,168.7,-84.6,0 --3,169.6,-85,0 --3,170.5,-85.5,0 --3,171.4,-85.9,0 --3,172.3,-86.4,0 --3,173.2,-86.8,0 --3,174.1,-87.3,0 --3,175,-87.7,0 --3,175.9,-88.2,0 --3,176.8,-88.6,0 --3,177.7,-89.1,0 --3,178.6,-89.5,0 --3,179.5,-90,0 --3,180.5,0,0 --3,181.4,0,0 --3,182.3,0,0 --3,183.2,0,0 --3,184.1,0,0 --3,185,0,0 --3,185.9,0,0 --3,186.8,0,0 --3,187.7,0,0 --3,188.6,0,0 --3,189.5,0,0 --3,190.4,0,0 --3,191.3,0,0 --3,192.2,0,0 --3,193.1,0,0 --3,194,0,0 --3,194.9,0,0 --3,195.8,0,0 --3,196.7,0,0 --3,197.6,0,0 --3,198.5,0,0 --3,199.4,0,0 --3,200.3,0,0 --3,201.2,0,0 --3,202.1,0,0 --3,203,0,0 --3,203.9,0,0 --3,204.8,0,0 --3,205.7,0,0 --3,206.6,0,0 --3,207.5,0,0 --3,208.4,0,0 --3,209.3,0,0 --3,210.2,0,0 --3,211.1,0,0 --3,212,0,0 --3,212.9,0,0 --3,213.8,0,0 --3,214.7,0,0 --3,215.6,0,0 --3,216.5,0,0 --3,217.4,0,0 --3,218.3,0,0 --3,219.2,0,0 --3,220.2,0,0 --3,221.1,0,0 --3,222,0,0 --3,222.9,0,0 --3,223.8,0,0 --3,224.7,0,0 --3,225.6,0,0 --3,226.5,0,0 --3,227.4,0,0 --3,228.3,0,0 --3,229.2,0,0 --3,230.1,0,0 --3,231,0,0 --3,231.9,0,0 --3,232.8,0,0 --3,233.7,0,0 --3,234.6,0,0 --3,235.5,0,0 --3,236.4,0,0 --3,237.3,0,0 --3,238.2,0,0 --3,239.1,0,0 --3,240,0,0 --3,240.9,0,0 --3,241.8,0,0 --3,242.7,0,0 --3,243.6,0,0 --3,244.5,0,0 --3,245.4,0,0 --3,246.3,0,0 --3,247.2,0,0 --3,248.1,0,0 --3,249,0,0 --3,249.9,0,0 --3,250.8,0,0 --3,251.7,0,0 --3,252.6,0,0 --3,253.5,0,0 --3,254.4,0,0 --3,255.3,0,0 --3,256.2,0,0 --3,257.1,0,0 --3,258,0,0 --3,258.9,0,0 --3,259.8,0,0 --3,260.8,0,0 --3,261.7,0,0 --3,262.6,0,0 --3,263.5,0,0 --3,264.4,0,0 --3,265.3,0,0 --3,266.2,0,0 --3,267.1,0,0 --3,268,0,0 --3,268.9,0,0 --3,269.8,0,0 --3,270.7,0,0 --3,271.6,0,0 --3,272.5,0,0 --3,273.4,0,0 --3,274.3,0,0 --3,275.2,0,0 --3,276.1,0,0 --3,277,0,0 --3,277.9,0,0 --3,278.8,0,0 --3,279.7,0,0 --3,280.6,0,0 --3,281.5,0,0 --3,282.4,0,0 --3,283.3,0,0 --3,284.2,0,0 --3,285.1,0,0 --3,286,0,0 --3,286.9,0,0 --3,287.8,0,0 --3,288.7,0,0 --3,289.6,0,0 --3,290.5,0,0 --3,291.4,0,0 --3,292.3,0,0 --3,293.2,0,0 --3,294.1,0,0 --3,295,0,0 --3,295.9,0,0 --3,296.8,0,0 --3,297.7,0,0 --3,298.6,0,0 --3,299.5,0,0 --3,300.5,0,0 --3,301.4,0,0 --3,302.3,0,0 --3,303.2,0,0 --3,304.1,0,0 --3,305,0,0 --3,305.9,0,0 --3,306.8,0,0 --3,307.7,0,0 --3,308.6,0,0 --3,309.5,0,0 --3,310.4,0,0 --3,311.3,0,0 --3,312.2,0,0 --3,313.1,0,0 --3,314,0,0 --3,314.9,0,0 --3,315.8,0,0 --3,316.7,0,0 --3,317.6,0,0 --3,318.5,0,0 --3,319.4,0,0 --3,320.3,0,0 --3,321.2,0,0 --3,322.1,0,0 --3,323,0,0 --3,323.9,0,0 --3,324.8,0,0 --3,325.7,0,0 --3,326.6,0,0 --3,327.5,0,0 --3,328.4,0,0 --3,329.3,0,0 --3,330.2,0,0 --3,331.1,0,0 --3,332,0,0 --3,332.9,0,0 --3,333.8,0,0 --3,334.7,0,0 --3,335.6,0,0 --3,336.5,0,0 --3,337.4,0,0 --3,338.3,0,0 --3,339.2,0,0 --3,340.2,0,0 --3,341.1,0,0 --3,342,0,0 --3,342.9,0,0 --3,343.8,0,0 --3,344.7,0,0 --3,345.6,0,0 --3,346.5,0,0 --3,347.4,0,0 --3,348.3,0,0 --3,349.2,0,0 --3,350.1,0,0 --3,351,0,0 --3,351.9,0,0 --3,352.8,0,0 --3,353.7,0,0 --3,354.6,0,0 --3,355.5,0,0 --3,356.4,0,0 --3,357.3,0,0 --3,358.2,0,0 --3,359.1,0,0 --3,360,0,0 diff --git a/tests/conftest.py b/tests/conftest.py index 5ce1485b717ee93de78341826da17fc618adbb3a..6f293b9502b058903416b4d99f4601055300c26e 100644 --- a/tests/conftest.py +++ b/tests/conftest.py @@ -128,6 +128,12 @@ def pytest_addoption(parser): help="If specified, use given binary as DUT decoder.", ) + parser.addoption( + "--dut_postrend_path", + action="store", + help="If specified, use given binary as DUT ISAR post-renderer.", + ) + parser.addoption( "--ref_encoder_path", action="store", @@ -140,6 +146,12 @@ def pytest_addoption(parser): help="If specified, use given binary as REF decoder.", ) + parser.addoption( + "--ref_postrend_path", + action="store", + help="If specified, use given binary as REF ISAR post-renderer.", + ) + parser.addoption( "--test_vector_path", action="store", @@ -1321,3 +1333,216 @@ def get_format_from_enc_opts(enc_opts: str) -> str: format = IVAS_ENC_FORMATS[enc_format_str] return format + + +@pytest.fixture(scope="session") +def dut_postrend_path(request) -> Optional[str]: + """ + Return path of DUT postrend binary. + """ + if request.config.option.dut_postrend_path: + return request.config.option.dut_postrend_path + + if request.config.option.update_ref == "1": + return None + + here = Path(__file__).parent.resolve() + system = platform.system() + + if system == "Windows": + path = here.joinpath("../ISAR_post_rend.exe") + elif system in ["Darwin", "Linux"]: + path = here.joinpath("../ISAR_post_rend") + else: + raise ValueError(f'Wrong system "{system}"!') + + path = str(path.resolve()) + + if not os.path.isfile(path): + raise FileNotFoundError(f"DUT postrend binary {path} not found!\n!") + + return path + + +class PostRendFrontend: + def __init__(self, path, postrend_type, timeout=None, fr=20) -> None: + self._path = Path(path).absolute() + self._type = postrend_type + self.returncode = None + self.stdout = None + self.stderr = None + self.timeout = timeout + self.fr = fr + + def run( + self, + output_sampling_rate: int, + input_path: Path, + output_path: Path, + head_trajectory: Path, + metadata_input_path: Optional[Path] = None, + quiet_mode: Optional[bool] = True, + bfi_file: Optional[Path] = None, + add_option_list: Optional[list] = None, + run_dir: Optional[Path] = None, + ) -> None: + command = [str(self._path)] + + # add optional parameters + if quiet_mode: + command.extend(["-q"]) + + if bfi_file is not None: + command.extend(["-prbfi", str(bfi_file)]) + + if add_option_list is not None: + command.extend(add_option_list) + + if metadata_input_path is not None: + # If we have metadata input file, then input format must be PCM + command.extend(["-if", "BINAURAL_SPLIT_PCM"]) + command.extend(["-im", str(metadata_input_path)]) + else: + command.extend(["-if", "BINAURAL_SPLIT_CODED"]) + + command.extend( + [ + "-fr", + str(self.fr), + "-fs", + str(output_sampling_rate), + "-i", + str(input_path), + "-o", + str(output_path), + "-T", + str(head_trajectory), + ] + ) + + cmd_str = textwrap.indent(" ".join(command), prefix="\t") + log_dbg_msg(f"{self._type} post-rend command:\n{cmd_str}") + + try: + with tempfile.TemporaryDirectory() as tmp_dir: + if run_dir is None: + cwd = Path(tmp_dir).absolute() + else: + cwd = Path(run_dir).absolute() + result = run( + command, + capture_output=True, + check=False, + timeout=self.timeout, + cwd=cwd, + ) + except TimeoutExpired: + pytest.fail(f"{self._type} post-rend run timed out after {self.timeout}s.") + + self.returncode = result.returncode + self.stderr = result.stderr.decode("ascii") + self.stdout = result.stdout.decode("ascii") + if self.stdout: + stdout_str = textwrap.indent(self.stdout, prefix="\t") + log_dbg_msg(f"{self._type} post-rend stdout:\n{stdout_str}") + if self.stderr: + stderr_str = textwrap.indent(self.stderr, prefix="\t") + log_dbg_msg(f"{self._type} post-rend stderr:\n{stderr_str}") + if self.returncode: + pytest.fail( + f"{self._type} post-rend terminated with a non-0 return code: {self.returncode}" + ) + if self.stderr and "UndefinedBehaviorSanitizer" in self.stderr: + pytest.fail("Undefined Behaviour runtime error encountered") + + def _check_run(self): + if self.returncode is not None: + if self.returncode: + pytest.fail( + f"{self._type} post-rend terminated with a non-0 return code: {self.returncode}" + ) + else: + logger.warning("%s post-rend was set-up, but not run", self._type) + # next assert is not OK since stderr contains messages even when decoding was successful + # assert not self.stderr, self._type + " decoder stderr is not empty" + + +@pytest.fixture(scope="function") +def dut_postrend_frontend(dut_postrend_path, request) -> Optional[PostRendFrontend]: + """ + Return a :class:`conftest.PostRendFrontend` instance as DUT for the test session. + """ + postrend = None + + if dut_postrend_path and request.node.funcargs["out_format"] in [ + "BINAURAL_SPLIT_CODED", + "BINAURAL_SPLIT_PCM", + ]: + timeout = request.config.getoption("--testcase_timeout") + postrend = PostRendFrontend( + dut_postrend_path, + "DUT", + timeout=timeout, + fr=request.config.option.dut_fr, + ) + + yield postrend + + # Fixture teardown + if postrend is not None: + postrend._check_run() + + +@pytest.fixture(scope="session") +def ref_postrend_path(request) -> Optional[str]: + """ + Return path of DUT postrend binary. + """ + if request.config.option.ref_postrend_path: + return request.config.option.ref_postrend_path + + if request.config.option.update_ref == "0": + return None + + here = Path(__file__).parent.resolve() + system = platform.system() + + if system == "Windows": + path = here.joinpath("../ISAR_post_rend_ref.exe") + elif system in ["Darwin", "Linux"]: + path = here.joinpath("../ISAR_post_rend_ref") + else: + raise ValueError(f'Wrong system "{system}"!') + + path = str(path.resolve()) + + if not os.path.isfile(path): + raise FileNotFoundError(f"REF postrend binary {path} not found!\n!") + + return path + + +@pytest.fixture(scope="function") +def ref_postrend_frontend(ref_postrend_path, request) -> Optional[PostRendFrontend]: + """ + Return a :class:`conftest.PostRendFrontend` instance as REF for the test session. + """ + postrend = None + + if ref_postrend_path and request.node.funcargs["out_format"] in [ + "BINAURAL_SPLIT_CODED", + "BINAURAL_SPLIT_PCM", + ]: + timeout = request.config.getoption("--testcase_timeout") + postrend = PostRendFrontend( + ref_postrend_path, + "REF", + timeout=timeout, + fr=request.config.option.dut_fr, + ) + + yield postrend + + # Fixture teardown + if postrend is not None: + postrend._check_run() diff --git a/tests/split_rendering/constants.py b/tests/split_rendering/constants.py index 10ed5a9393dc40a57de0a1fa3a48cad10065ec29..7d58a03b0c05a3556603d24c082f15a7750df267 100644 --- a/tests/split_rendering/constants.py +++ b/tests/split_rendering/constants.py @@ -56,6 +56,14 @@ CUSTOM_LAYOUT_DIR = SCRIPTS_DIR.joinpath("ls_layouts") HR_TRAJECTORY_DIR = SCRIPTS_DIR.joinpath("trajectories") TESTV_DIR = SCRIPTS_DIR.joinpath("testv") +if platform.system() == "Windows": + TOOLS_DIR = SCRIPTS_DIR / "tools" / "Win32" +elif platform.system() == "Linux": + TOOLS_DIR = SCRIPTS_DIR / "tools"/ "Linux" +elif platform.system() == "Darwin": + TOOLS_DIR = SCRIPTS_DIR / "tools" / "Darwin" +else: + assert False, "Unsupported platform" """ Renderer configurations """ RENDERER_CONFIGS_DEFAULT_CODEC = [ @@ -99,7 +107,7 @@ RENDERER_CONFIGS_TO_TEST_PLC = ( """ Trajectories """ SPLIT_REND_HR_TRAJECTORIES_TO_TEST = [ - "rotate_euler_quaternion_5s", + "rotate_euler_quaternion_30s", ] """ IVAS specific constants """ @@ -180,6 +188,9 @@ INPUT_DURATION_SEC = 5 """ PLC constants """ PLC_ERROR_PATTERNS = [str(ep.stem) for ep in ERROR_PATTERNS_DIR.glob("*.ep")] +""" Delay profiles for testing VoIP mode """ +DELAY_PROFILES = [None, "dly_error_profile_5"] + """ Encoder commandline template """ SPLIT_PRE_COD_CMD = [ str(TESTS_DIR.parent.parent.joinpath("IVAS_cod")), diff --git a/tests/split_rendering/test_voip_be_splitrend_vs_binaural.py b/tests/split_rendering/test_voip_be_splitrend_vs_binaural.py new file mode 100644 index 0000000000000000000000000000000000000000..fcd6cb231f9e40a4d5d43b7af0c7d277637a756b --- /dev/null +++ b/tests/split_rendering/test_voip_be_splitrend_vs_binaural.py @@ -0,0 +1,157 @@ +#!/usr/bin/env python3 + +""" + (C) 2022-2025 IVAS codec Public Collaboration with portions copyright Dolby International AB, Ericsson AB, + Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Huawei Technologies Co. LTD., + Koninklijke Philips N.V., Nippon Telegraph and Telephone Corporation, Nokia Technologies Oy, Orange, + Panasonic Holdings Corporation, Qualcomm Technologies, Inc., VoiceAge Corporation, and other + contributors to this repository. All Rights Reserved. + + This software is protected by copyright law and by international treaties. + The IVAS codec Public Collaboration consisting of Dolby International AB, Ericsson AB, + Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V., Huawei Technologies Co. LTD., + Koninklijke Philips N.V., Nippon Telegraph and Telephone Corporation, Nokia Technologies Oy, Orange, + Panasonic Holdings Corporation, Qualcomm Technologies, Inc., VoiceAge Corporation, and other + contributors to this repository retain full ownership rights in their respective contributions in + the software. This notice grants no license of any kind, including but not limited to patent + license, nor is any license granted by implication, estoppel or otherwise. + + Contributors are required to enter into the IVAS codec Public Collaboration agreement before making + contributions. + + This software is provided "AS IS", without any express or implied warranties. The software is in the + development stage. It is intended exclusively for experts who have experience with such software and + solely for the purpose of inspection. All implied warranties of non-infringement, merchantability + and fitness for a particular purpose are hereby disclaimed and excluded. + + Any dispute, controversy or claim arising under or in relation to providing this software shall be + submitted to and settled by the final, binding jurisdiction of the courts of Munich, Germany in + accordance with the laws of the Federal Republic of Germany excluding its conflict of law rules and + the United Nations Convention on Contracts on the International Sales of Goods. +""" + +import pytest + +from tempfile import TemporaryDirectory +from pathlib import Path +import filecmp + +from tests.split_rendering.utils import * +from tests.split_rendering.constants import SCRIPTS_DIR, TESTV_DIR +from tests.test_be_for_jbm_neutral_dly_profile import ( + INPUT_FILES, + get_options_cod, +) +from pyaudio3dtools import audioarray, audiofile + +IN_FORMATS = [ + "MC_5_1", + "ISM4", + "FOA", + "MASA2TC", + # Mixed formats to be finalised in a follow-up issue #1343 + # "OSBA_ISM3_HOA3", + # "OMASA_ISM4", +] + +DELAY_PROFILES = ["dly_error_profile_0.dat", "dly_error_profile_5.dat"] + + +# Compares PCM output and tracefile from a VoIP BINAURAL_SPLIT_PCM chain with equivalent BINAURAL +# chain to ensure time-scaling and other JBM operations are BE between the two. +@pytest.mark.parametrize("in_format", IN_FORMATS) +@pytest.mark.parametrize("delay_profile", DELAY_PROFILES) +def test_voip_be_splitrend_vs_binaural( + in_format, + delay_profile, + dut_encoder_frontend, + dut_decoder_frontend, + ivas_bitrate=128000, +): + with TemporaryDirectory() as tmp_dir: + tmp_dir = Path(tmp_dir) + + sampling_rate_khz = 48 + delay_profile_path = SCRIPTS_DIR / "dly_error_profiles" / delay_profile + delay_profile_id = int(delay_profile[-5]) + + # run encoder + bitstream_file = (tmp_dir / f"{in_format}-dly{delay_profile_id}.192").absolute() + dtx = False + wav_in = TESTV_DIR / INPUT_FILES[in_format] + dut_encoder_frontend.run( + ivas_bitrate, + sampling_rate_khz, + wav_in, + bitstream_file, + add_option_list=get_options_cod(in_format, dtx), + run_dir=tmp_dir, + ) + + def run_decoder(out_format): + options = [] + + # With CLDFB pose correction (default with BINAURAL_SPLIT_PCM), a 20 ms audio frame is + # rendered with only one head position (first of the 4 per frame). If we want to compare + # the output from BINAURAL_SPLIT_PCM to output from BINAURAL, the head trajectory must + # be static. + head_traj = Path(SCRIPTS_DIR / "trajectories/const000.csv") + options.extend(["-T", str(head_traj)]) + + wav_out = ( + tmp_dir + / f"{in_format}-{ivas_bitrate}-{out_format}-dly{delay_profile_id}.wav" + ).absolute() + + trace_out = wav_out.with_suffix(".trace") + options.extend(["-Tracefile", str(trace_out), "-no_delay_cmp"]) + + if out_format == "BINAURAL_SPLIT_PCM": + isar_md_file = wav_out.with_suffix(".isarmd") + options.extend(["-om", str(isar_md_file)]) + else: + isar_md_file = None + + dut_decoder_frontend.run( + out_format, + sampling_rate_khz, + bitstream_file, + wav_out, + netsim_profile=delay_profile_path, + add_option_list=options, + ) + + return wav_out, trace_out, isar_md_file + + wav_out_bin, trace_out_bin, _ = run_decoder("BINAURAL") + wav_out_sr, trace_out_sr, _ = run_decoder("BINAURAL_SPLIT_PCM") + + # Note regarding delay alignment: both output audio files contain the same decoder delay. + # + # - When outputting to BINAURAL with -no_delay_cmp, decoder delay is present in the audio + # output, as expected. + # + # - When outputting to BINAURAL_SPLIT_PCM, decoder delay is never compensated in output + # audio (irrespective of the -no_delay_cmp flag). The delay value is saved in the ISAR + # metadata file and compensated at the post-rendering stage. + audio_sr, _ = audiofile.readfile(str(wav_out_sr)) + audio_bin, _ = audiofile.readfile(str(wav_out_bin)) + + # Ensure audio and tracefiles are BE + audio_cmp_result = audioarray.compare( + audio_bin, audio_sr, fs=sampling_rate_khz * 1000, per_frame=False + ) + tracefiles_equal = filecmp.cmp(trace_out_bin, trace_out_sr) + failed = not audio_cmp_result["bitexact"] or not tracefiles_equal + if failed: + message = [] + if not audio_cmp_result["bitexact"]: + message.append( + "Difference found between delay-aligned BINAURAL audio and BINAURAL_SPLIT_PCM audio! " + f"Max abs diff: {audio_cmp_result['max_abs_diff']}" + ) + if not tracefiles_equal: + message.append( + "Difference found between BINAURAL tracefile and BINAURAL_SPLIT_PCM tracefile!" + ) + pytest.fail("; ".join(message)) diff --git a/tests/split_rendering/utils.py b/tests/split_rendering/utils.py index 1a6ff61edc55c9edac6e1400ffef6c040e30b072..ffb14eb55aaddca3a5b83514279ebe3efe86f0e9 100644 --- a/tests/split_rendering/utils.py +++ b/tests/split_rendering/utils.py @@ -50,6 +50,7 @@ from tests.renderer.utils import ( run_isar_post_rend_cmd, run_ivas_isar_dec_cmd, run_ivas_isar_enc_cmd, + run_cmd, ) from tests.split_rendering.constants import * @@ -184,6 +185,7 @@ def run_full_chain_split_rendering( get_ssnr=False, get_odg=False, get_odg_bin=False, + delay_profile: Path | None=None, ) -> str: """ Runs the full split rendering chain consisting of @@ -201,6 +203,9 @@ def run_full_chain_split_rendering( renderer_fmt_for_filename = renderer_fmt.replace("BINAURAL_", "") filename_base = f"{in_fmt}_{bitrate}_{renderer_fmt_for_filename}_full_cfg_{render_config.stem}_fr_pre_{pre_rend_fr}_post_{post_rend_fr}" + if delay_profile: + filename_base += f"_{delay_profile.stem}" + ivas_bitstream_stem = f"{filename_base}.192" # NOTE: the split bitstream files need to have ".bit" extension otherwise the conformance test breaks split_bitstream_stem = f"{filename_base}.splt.bit" @@ -253,6 +258,20 @@ def run_full_chain_split_rendering( run_ivas_isar_enc_cmd(cmd) + if delay_profile: + rtp_bitstream = ivas_bitstream.with_suffix(".rtpg192") + cmd = [ + str(TOOLS_DIR / f"networkSimulator_g192{EXE_SUFFIX}"), + str(delay_profile), + str(ivas_bitstream), + str(rtp_bitstream), + str(tmp_dir / "tmp.netsimtrace"), + "1", + "0" + ] + run_cmd(cmd, test_info=test_info) + ivas_bitstream = rtp_bitstream + # decode to split-rendering bitstream cmd = SPLIT_PRE_DEC_CMD[:] @@ -269,6 +288,9 @@ def run_full_chain_split_rendering( if renderer_fmt == "BINAURAL_SPLIT_PCM": cmd[5:5] = ["-om", str(split_md_file)] + if delay_profile: + cmd[5:5] = ["-voip"] + run_ivas_isar_dec_cmd(cmd) # run split renderer diff --git a/tests/test_be_for_jbm_neutral_dly_profile.py b/tests/test_be_for_jbm_neutral_dly_profile.py index ec67ab22a3ae312d9ffbb9061b9c2338325259be..dee54b7d94a6f8dd0984e7d9203176f0028e8512 100644 --- a/tests/test_be_for_jbm_neutral_dly_profile.py +++ b/tests/test_be_for_jbm_neutral_dly_profile.py @@ -4,12 +4,15 @@ import sys import re import numpy as np from tempfile import TemporaryDirectory +from pathlib import Path from .constants import TESTV_DIR, SCRIPTS_DIR +from .split_rendering.constants import HR_TRAJECTORY_DIR, RENDER_CFG_DIR sys.path.append(str(SCRIPTS_DIR)) from pyaudio3dtools import audiofile, audioarray +from split_rendering.isar_bstool import IsarBitstream DTX_ON = "DTX_ON" DTX_OFF = "DTX_OFF" @@ -76,12 +79,28 @@ TESTCASES_NO_DTX = [ ["OSBA_ISM3_HOA3", 128000, "EXT"], ["OSBA_ISM2_HOA3", 96000, "5_1"], ["OSBA_ISM1_HOA2", 32000, "mono"], + # BINAURAL_SPLIT_PCM as output + ["ISM4", 128000, "BINAURAL_SPLIT_PCM"], + ["MC_5_1", 128000, "BINAURAL_SPLIT_PCM"], + ["FOA", 128000, "BINAURAL_SPLIT_PCM"], + ["OMASA_ISM2", 128000, "BINAURAL_SPLIT_PCM"], + # BINAURAL_SPLIT_CODED with LC3plus + ["MC_5_1", 128000, "BINAURAL_SPLIT_CODED"], + ["ISM4", 128000, "BINAURAL_SPLIT_CODED"], + # BINAURAL_SPLIT_CODED with LCLD + ["HOA3", 128000, "BINAURAL_SPLIT_CODED"], + ["OSBA_ISM4_FOA", 128000, "BINAURAL_SPLIT_CODED"], ] DLY_PROFILE = SCRIPTS_DIR.joinpath("dly_error_profiles/dly_error_profile_0.dat") JBM_NEUTRAL_DELAY_MS = 60 -def get_options(in_format, dtx): +def is_split_rend(format) -> bool: + return format.upper() in ["BINAURAL_SPLIT_CODED", "BINAURAL_SPLIT_PCM"] + + +def get_options_cod(in_format, dtx): + # NOTE: this function is shared with another test in tests/split_rendering/test_voip_be_splitrend_vs_binaural.py options = list() if dtx: @@ -124,6 +143,35 @@ def get_options(in_format, dtx): return options +def get_options_dec( + output_format: str, + output_file: Path, + is_voip: bool, +): + options = [] + + if "BINAURAL_SPLIT" in output_format.upper(): + options.extend(["-render_config", str(RENDER_CFG_DIR / "split_renderer_config_3dof_512k_default.txt")]) + + if output_format.upper() == "BINAURAL_SPLIT_PCM": + options.extend(["-om", str(output_file.with_suffix(".isarmd"))]) + + if is_split_rend(output_format): + # In VoIP configs account for VoIP delay by using the appropriately delayed head rotation file + options.extend( + [ + "-T", + str( + HR_TRAJECTORY_DIR + / f"rotate_euler_quaternion_30s_delayed{'_voip' if is_voip else ''}.csv" + ), + ] + ) + + return options + + +# NOTE: this list is shared with another test in tests/split_rendering/test_voip_be_splitrend_vs_binaural.py INPUT_FILES = { "stereo": "stvST48n.wav", "ISM1": "stv1ISM48s.wav", @@ -158,6 +206,32 @@ OUTPUT_FOLDER_IF_KEEP_FILES_NEUTRAL = OUTPUT_FOLDER_IF_KEEP_FILES.joinpath( "neutral-profile" ) +def compare_audio(non_voip_output, voip_output, sampling_rate_khz): + # compare no-jbm and jbm output + x, _ = audiofile.readfile(non_voip_output) + x_jbm, _ = audiofile.readfile(voip_output) + + # strip jbm delay + cmp_result = audioarray.compare( + x, + x_jbm, + fs=sampling_rate_khz * 1000, + per_frame=False, + test_start_offset_ms=JBM_NEUTRAL_DELAY_MS, + ) + if not cmp_result["bitexact"]: + pytest.fail( + f"Difference between no jbm and zero-delay jbm decoding found! Max abs diff: {cmp_result['max_abs_diff']}" + ) + + +def compare_isar_files(non_voip_isar, voip_isar): + isar_bs = IsarBitstream(non_voip_isar) + isar_bs_voip = IsarBitstream(voip_isar).trim(JBM_NEUTRAL_DELAY_MS / 1000) + if not isar_bs_voip.is_same_as(isar_bs): + pytest.fail( + "Difference between no jbm and zero-delay jbm decoding found! ISAR files differ" + ) @pytest.mark.parametrize( "in_format,bitrate,out_format", TESTCASES_NO_DTX + TESTCASES_WITH_DTX @@ -168,6 +242,7 @@ def test_be_for_jbm_neutral_dly_profile_no_dtx( out_format, dut_encoder_frontend, dut_decoder_frontend, + dut_postrend_frontend, keep_files, ): run_test( @@ -177,6 +252,7 @@ def test_be_for_jbm_neutral_dly_profile_no_dtx( DTX_OFF, dut_encoder_frontend, dut_decoder_frontend, + dut_postrend_frontend, keep_files, ) @@ -188,6 +264,7 @@ def test_be_for_jbm_neutral_dly_profile_with_dtx( out_format, dut_encoder_frontend, dut_decoder_frontend, + dut_postrend_frontend, keep_files, ): run_test( @@ -197,6 +274,7 @@ def test_be_for_jbm_neutral_dly_profile_with_dtx( DTX_ON, dut_encoder_frontend, dut_decoder_frontend, + dut_postrend_frontend, keep_files, ) @@ -208,6 +286,7 @@ def run_test( dtx, dut_encoder_frontend, dut_decoder_frontend, + dut_postrend_frontend, keep_files, ): if keep_files: @@ -216,6 +295,7 @@ def run_test( with TemporaryDirectory() as tmp_dir: tmp_dir = pathlib.Path(tmp_dir) + output_ext = "wav" if out_format != "BINAURAL_SPLIT_CODED" else "isarbs" output_dir_no_jbm = ( OUTPUT_FOLDER_IF_KEEP_FILES_NO_JBM if keep_files else tmp_dir ) @@ -243,7 +323,7 @@ def run_test( input_file = tmp_dir.joinpath(f"{input_file.stem}-plus-noise.wav") audiofile.writefile(input_file, input_signal, fs) - options = get_options(in_format, dtx == DTX_ON) + options = get_options_cod(in_format, dtx == DTX_ON) dut_encoder_frontend.run( bitrate, sampling_rate_khz, @@ -255,33 +335,67 @@ def run_test( # run decoder without network simulation output = output_dir_no_jbm.joinpath( - f"{in_format}-{bitrate}-{out_format}-{dtx}.wav" + f"{in_format}-{bitrate}-{out_format}-{dtx}.{output_ext}" ).absolute() - dut_decoder_frontend.run(out_format, sampling_rate_khz, bitstream_file, output) + non_voip_options = get_options_dec(out_format, output, is_voip=False) + dut_decoder_frontend.run( + out_format, + sampling_rate_khz, + bitstream_file, + output, + add_option_list=non_voip_options, + ) # run decoder with network simulation - output_jbm = output_dir_neutral.joinpath(output.with_suffix(".jbm-0.wav").name) + output_jbm = output_dir_neutral.joinpath(output.with_suffix(f".jbm-0.{output_ext}").name) + voip_options = get_options_dec(out_format, output_jbm, is_voip=True) dut_decoder_frontend.run( out_format, sampling_rate_khz, bitstream_file, output_jbm, netsim_profile=DLY_PROFILE, + add_option_list=voip_options, + ) + + if out_format == "BINAURAL_SPLIT_CODED": + # With `BINAURAL_SPLIT_CODED` the main output is an ISAR bitstream + compare_isar_files(output, output_jbm) + else: + # Otherwise audio output + compare_audio(output, output_jbm, sampling_rate_khz) + + # With `BINAURAL_SPLIT_PCM` there is an additional metadata output file + if out_format == "BINAURAL_SPLIT_PCM": + isar_md_file = Path(non_voip_options[non_voip_options.index("-om") + 1]) + isar_md_file_voip = Path(voip_options[voip_options.index("-om") + 1]) + compare_isar_files(isar_md_file, isar_md_file_voip) + else: + isar_md_file = None + isar_md_file_voip = None + + # We will test ISAR_post_rend below. Only applies to split rendering. + if not is_split_rend(out_format): + return + + # Render non-voip output + postrend_output = output_dir_no_jbm.joinpath(output.with_suffix(".postrend.wav").name) + dut_postrend_frontend.run( + sampling_rate_khz, + output, + postrend_output, + str(HR_TRAJECTORY_DIR / f"rotate_euler_quaternion_30s.csv"), + isar_md_file, ) - # compare no-jbm and jbm output - x, _ = audiofile.readfile(output) - x_jbm, _ = audiofile.readfile(output_jbm) - - # strip jbm delay - cmp_result = audioarray.compare( - x, - x_jbm, - fs=sampling_rate_khz * 1000, - per_frame=False, - test_start_offset_ms=JBM_NEUTRAL_DELAY_MS, + # Render voip output + postrend_output_voip = output_dir_neutral.joinpath(output_jbm.with_suffix(".postrend.wav").name) + dut_postrend_frontend.run( + sampling_rate_khz, + output_jbm, + postrend_output_voip, + str(HR_TRAJECTORY_DIR / f"rotate_euler_quaternion_30s_voip.csv"), + isar_md_file_voip, ) - if not cmp_result["bitexact"]: - pytest.fail( - f"Difference between no jbm and zero-delay jbm decoding found! Max abs diff: {cmp_result['max_abs_diff']}" - ) + + compare_audio(postrend_output, postrend_output_voip, sampling_rate_khz)