34abadd258
This corresponds to: Chromium: 6555f9456074c0c0e5f7713564b978588ac04a5d webrtc: c8b569e0a7ad0b369e15f0197b3a558699ec8efa
117 lines
3.5 KiB
C++
117 lines
3.5 KiB
C++
/*
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* Copyright (c) 2015 The WebRTC project authors. All Rights Reserved.
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*
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* Use of this source code is governed by a BSD-style license
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* that can be found in the LICENSE file in the root of the source
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* tree. An additional intellectual property rights grant can be found
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* in the file PATENTS. All contributing project authors may
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* be found in the AUTHORS file in the root of the source tree.
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*/
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#ifndef WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_
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#define WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_
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#include <cmath>
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#include <vector>
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#include "webrtc/base/maybe.h"
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namespace webrtc {
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// Coordinates in meters. The convention used is:
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// x: the horizontal dimension, with positive to the right from the camera's
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// perspective.
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// y: the depth dimension, with positive forward from the camera's
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// perspective.
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// z: the vertical dimension, with positive upwards.
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template<typename T>
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struct CartesianPoint {
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CartesianPoint() {
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c[0] = 0;
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c[1] = 0;
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c[2] = 0;
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}
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CartesianPoint(T x, T y, T z) {
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c[0] = x;
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c[1] = y;
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c[2] = z;
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}
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T x() const { return c[0]; }
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T y() const { return c[1]; }
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T z() const { return c[2]; }
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T c[3];
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};
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using Point = CartesianPoint<float>;
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// Calculates the direction from a to b.
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Point PairDirection(const Point& a, const Point& b);
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float DotProduct(const Point& a, const Point& b);
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Point CrossProduct(const Point& a, const Point& b);
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bool AreParallel(const Point& a, const Point& b);
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bool ArePerpendicular(const Point& a, const Point& b);
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// Returns the minimum distance between any two Points in the given
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// |array_geometry|.
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float GetMinimumSpacing(const std::vector<Point>& array_geometry);
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// If the given array geometry is linear it returns the direction without
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// normalizing.
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rtc::Maybe<Point> GetDirectionIfLinear(
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const std::vector<Point>& array_geometry);
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// If the given array geometry is planar it returns the normal without
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// normalizing.
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rtc::Maybe<Point> GetNormalIfPlanar(const std::vector<Point>& array_geometry);
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// Returns the normal of an array if it has one and it is in the xy-plane.
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rtc::Maybe<Point> GetArrayNormalIfExists(
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const std::vector<Point>& array_geometry);
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// The resulting Point will be in the xy-plane.
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Point AzimuthToPoint(float azimuth);
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template<typename T>
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float Distance(CartesianPoint<T> a, CartesianPoint<T> b) {
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return std::sqrt((a.x() - b.x()) * (a.x() - b.x()) +
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(a.y() - b.y()) * (a.y() - b.y()) +
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(a.z() - b.z()) * (a.z() - b.z()));
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}
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// The convention used:
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// azimuth: zero is to the right from the camera's perspective, with positive
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// angles in radians counter-clockwise.
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// elevation: zero is horizontal, with positive angles in radians upwards.
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// radius: distance from the camera in meters.
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template <typename T>
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struct SphericalPoint {
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SphericalPoint(T azimuth, T elevation, T radius) {
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s[0] = azimuth;
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s[1] = elevation;
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s[2] = radius;
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}
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T azimuth() const { return s[0]; }
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T elevation() const { return s[1]; }
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T distance() const { return s[2]; }
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T s[3];
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};
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using SphericalPointf = SphericalPoint<float>;
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// Helper functions to transform degrees to radians and the inverse.
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template <typename T>
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T DegreesToRadians(T angle_degrees) {
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return M_PI * angle_degrees / 180;
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}
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template <typename T>
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T RadiansToDegrees(T angle_radians) {
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return 180 * angle_radians / M_PI;
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}
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} // namespace webrtc
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#endif // WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_
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