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ITABase
Commit 0ac470ed authored by Dipl.-Ing. Jonas Stienen's avatar Dipl.-Ing. Jonas Stienen
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Fixing merge problems

parents 5f0ab1ab 21965b75
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Showing with 111 additions and 58 deletions
CMakeLists.txt
View file @ 0ac470ed
......@@ -214,6 +214,9 @@ endif( )
if( ITA_VISTA_BUILD_STATIC )
add_definitions( -DVISTABASE_STATIC -DVISTAMATH_STATIC -DVISTAASPECTS_STATIC -DVISTATOOLS_STATIC -DVISTAINTERPROCCOMM_STATIC )
if( WIN32 )
list( APPEND VISTA_USE_PACKAGE_LIBRARIES Ws2_32 )
endif( )
endif( )
if( NOT WIN32 )
......
include/ITANumericUtils.h
View file @ 0ac470ed
......@@ -288,6 +288,9 @@ ITA_BASE_API float anglef_proj_0_360_DEG( const float alpha );
*/
ITA_BASE_API float anglef_proj_N180_180_DEG( const float alpha );
//! Project an angle into interval of -90 and 90 degree
ITA_BASE_API float anglef_proj_N90_90_DEG( const float alpha );
//! (Gerichtete) minimale Winkeldifferenz für zwei Winkel [°] im Intervall [0°,360°)
/**
* Für zwei gegebene Winkel 0°<= alpha, beta < 360° im Interval [0°,360°) berechnet
......@@ -324,27 +327,21 @@ ITA_BASE_API float anglef_mindiff_0_360_DEG( const float alpha, const float beta
ITA_BASE_API float anglef_mindiff_abs_0_360_DEG( const float alpha, const float beta );
// Orientierung in Yaw-Pitch-Roll Winkeln in View-Up-Vektor umrechnen (Alle Winkel in Bogenmaß)
ITA_BASE_API void convertYPR2VU( const double yaw, const double pitch, const double roll,
double& vx, double& vy, double& vz,
double& ux, double& uy, double& uz );
//! Orientierung in Yaw-Pitch-Roll Winkeln in View-Up-Vektor umrechnen (Alle Winkel in Bogenmaß)
ITA_BASE_API void convertYPR2VU( const double yaw, const double pitch, const double roll, double& vx, double& vy, double& vz, double& ux, double& uy, double& uz );
// Orientierung in Yaw-Pitch-Roll Winkeln in View-Up-Vektor umrechnen (Alle Winkel in Bogenmaß)
ITA_BASE_API void convertYPR2VU( const float yaw, const float pitch, const float roll,
float& vx, float& vy, float& vz,
float& ux, float& uy, float& uz );
//! Orientierung in Yaw-Pitch-Roll Winkeln in View-Up-Vektor umrechnen (Alle Winkel in Bogenmaß)
ITA_BASE_API void convertYPR2VU( const float yaw, const float pitch, const float roll, float& vx, float& vy, float& vz, float& ux, float& uy, float& uz );
// Orientierung in View-Up-Vektor in Yaw-Pitch-Roll Winkeln umrechnen (Alle Winkel in Bogenmaß)
ITA_BASE_API void convertVU2YPR( const double vx, const double vy, const double vz,
const double ux, const double uy, const double uz,
double& yaw, double& pitch, double& roll );
// Orientierung in View-Up-Vektor in Yaw-Pitch-Roll Winkeln umrechnen (Alle Winkel in Bogenmaß)
ITA_BASE_API void convertVU2YPR( const float vx, const float vy, const float vz,
const float ux, const float uy, const float uz,
float& yaw, float& pitch, float& roll );
//! Orientierung in View-Up-Vektor in Yaw-Pitch-Roll Winkeln umrechnen (Alle Winkel in Bogenmaß)
ITA_BASE_API void convertVU2YPR( const float vx, const float vy, const float vz, const float ux, const float uy, const float uz, float& yaw, float& pitch, float& roll );
// Datenklasse für Fehlerwerte
//! Datenklasse für Fehlerwerte
template< typename T >
class ITA_BASE_API ErrorValues
{
......@@ -363,7 +360,7 @@ public:
{};
};
// Fehler zwischen zwei Vektoren berechnen
//! Fehler zwischen zwei Vektoren berechnen
template< typename Tc, typename Ta, typename Tb >
inline ErrorValues<Tc> computeErrorValues( const Ta* A, const Tb* B, const int size )
{
......@@ -391,13 +388,8 @@ inline ErrorValues<Tc> computeErrorValues( const Ta* A, const Tb* B, const int s
return v;
};
/* +-----------------------+
| |
| Listen und Folgen |
| |
+-----------------------+ */
// Fills a vector with numbers dest = { a+n*s < b | n in N }
//! Fills a vector with numbers dest = { a+n*s < b | n in N }
template< typename T > inline void linspace( std::vector< T >& dest, T a, T b, T s = 1 )
{
dest.clear();
......@@ -425,38 +417,40 @@ template< typename T > inline void linspace( std::vector< T >& dest, T a, T b, T
}
};
// Fills a vector with powers of two in the range a=2^i <= 2^j <= 2^k=b
// (Note a and b must be powers of two, otherwise an exception is thrown)
//! Fills a vector with powers of two in the range a=2^i <= 2^j <= 2^k=b
/**
* @note a and b must be powers of two, otherwise an exception is thrown)
*/
ITA_BASE_API void pow2space( std::vector< int >& dest, const int a, const int b );
// returns the elevation angle (0 = frontal direction) in radians from a polar angle theta (0 = above)
ITA_BASE_API double theta2elevation(const double dThetaRAD);
//! Returns the elevation angle (0 = frontal direction) in radians from a polar angle theta (0 = above)
ITA_BASE_API double theta2elevation( const double dThetaRAD );
// returns the polar angle theta (0 = above) in radians from a given elevation angle (0 = frontal direction)
ITA_BASE_API double elevation2theta(const double dElevationRAD);
//! returns the polar angle theta (0 = above) in radians from a given elevation angle (0 = frontal direction)
ITA_BASE_API double elevation2theta( const double dElevationRAD );
// Calculates the factorial of an positive integer m
ITA_BASE_API int factorial( const int m );
//Calculates the normalizing constant for SHRealvaluedBasefunctions
//! Calculates the normalizing constant for SHRealvaluedBasefunctions
ITA_BASE_API double SHNormalizeConst( const int m, const int n );
//Calculates the Kronecker delta
//! Calculates the Kronecker delta
ITA_BASE_API int SHKronecker( const int m );
// Returns the linear index of a basefunction with degree m and order n, linear indexing starts with 0
//! Returns the linear index of a basefunction with degree m and order n, linear indexing starts with 0
ITA_BASE_API int SHDegreeOrder2Linear( const int m, const int n );
// Returns degree and order of a basefunctions from a linear index, linear indexing starts with 0
ITA_BASE_API void SHLinear2DegreeOrder(const int iLinear, int &m, int &n);
//! Returns degree and order of a basefunctions from a linear index, linear indexing starts with 0
ITA_BASE_API void SHLinear2DegreeOrder( const int iLinear, int &m, int &n );
// Calculates the remax weightings up to a given order
ITA_BASE_API std::vector<double> HOARemaxWeights(int iTruncationOrder);
//! Calculates the remax weightings up to a given order
ITA_BASE_API std::vector< double > HOARemaxWeights( int iTruncationOrder );
//Calculates the realvalued Basefunctions of SH for e.g. Ambisonics
ITA_BASE_API std::vector<double> SHRealvaluedBasefunctions( const double thetaRAD, const double azimuthRAD, const int maxOrder );
//! Calculates the realvalued Basefunctions of SH for e.g. Ambisonics
ITA_BASE_API std::vector< double > SHRealvaluedBasefunctions( const double thetaRAD, const double azimuthRAD, const int maxOrder );
//Calculates the associated legendre polynomials
ITA_BASE_API std::vector<double> SHAssociatedLegendre( const int N, const double mu );
//! Calculates the associated legendre polynomials
ITA_BASE_API std::vector< double > SHAssociatedLegendre( const int N, const double mu );
#endif // INCLUDE_WATCHER_ITA_NUMERIC_UTILS
src/ITANumericUtils.cpp
View file @ 0ac470ed
......@@ -83,12 +83,12 @@ int uprmul( const int x, const int mul )
return ( r == 0 ? x : ( x > 0 ? x + mul - r : x - r ) );
}
unsigned int lwrmulu( const unsigned int x,const unsigned int mul )
unsigned int lwrmulu( const unsigned int x, const unsigned int mul )
{
return x - ( x % mul );
}
unsigned int uprmulu( const unsigned int x, const unsigned int mul )
unsigned int uprmulu( const unsigned int x, const unsigned int mul )
{
unsigned int r = x % mul; // Teilungsrest
return ( r == 0 ? x : x + mul - r );
......@@ -134,7 +134,7 @@ double grad2rad( const double phi )
float correctAngle180( const float phi )
{
if( fabs( phi ) == 180.0f )
if( fabs( phi ) == 180.0f )
return phi;
const float phi_temp = fmodf( phi, 360.0f );
......@@ -242,7 +242,7 @@ void csargpabs( const float in_re, const float in_im, const float dest_arg, floa
/* +----------- RAD -----------+ */
float anglef_proj_0_2PI( const float alpha )
{
float alpha_temp= fmodf( alpha, 2 * PI_F );
float alpha_temp = fmodf( alpha, 2 * PI_F );
if( alpha_temp < 0 )
alpha_temp += 2 * PI_F;
return alpha_temp;
......@@ -254,6 +254,14 @@ float anglef_proj_NPI_PI( const float alpha )
return x;
}
float anglef_proj_NPIH_PIH( const float alpha )
{
float alpha_temp = fmodf( alpha + PI_F / 2.0f, PI_F ) - PI_F / 2.0f;
if( alpha_temp < -PI_F/2.0f )
alpha_temp += PI_F;
return alpha_temp;
}
float anglef_mindiff_0_2PI( const float alpha, const float beta )
{
float gamma = anglef_proj_0_2PI( beta ) - anglef_proj_0_2PI( alpha );
......@@ -278,6 +286,10 @@ float anglef_proj_N180_180_DEG( const float alpha ) {
return rad2gradf( anglef_proj_NPI_PI( grad2radf( alpha ) ) );
}
float anglef_proj_N90_90_DEG( const float alpha ) {
return rad2gradf( anglef_proj_NPIH_PIH( grad2radf( alpha ) ) );
}
float anglef_mindiff_0_360_DEG( const float alpha, const float beta )
{
return rad2gradf( anglef_mindiff_0_2PI( grad2radf( alpha ), grad2radf( beta ) ) );
......@@ -289,7 +301,7 @@ float anglef_mindiff_abs_0_360_DEG( const float alpha, const float beta )
}
void convertYPR2VU( const float yaw, const float pitch, const float roll, float& vx, float& vy, float& vz, float& ux, float& uy, float& uz )
void convertYPR2VU( const float yaw, const float pitch, const float roll, float& vx, float& vy, float& vz, float& ux, float& uy, float& uz )
{
double vx_, vy_, vz_, ux_, uy_, uz_;
convertYPR2VU( double( yaw ), double( pitch ), double( roll ), vx_, vy_, vz_, ux_, uy_, uz_ );
......@@ -301,7 +313,7 @@ void convertYPR2VU( const float yaw, const float pitch, const float roll, float&
uz = float( uz_ );
}
void convertYPR2VU( const double yaw, const double pitch, const double roll, double& vx, double& vy, double& vz, double& ux, double& uy, double& uz )
void convertYPR2VU( const double yaw, const double pitch, const double roll, double& vx, double& vy, double& vz, double& ux, double& uy, double& uz )
{
/*
* Yaw-pitch-roll (YPR) angles rotation order (referring to OpenGL axis)
......@@ -323,7 +335,7 @@ void convertYPR2VU( const double yaw, const double pitch, const double roll, dou
uy = cp*cr;
uz = -sy*sr + cy*sp*cr;
}
void convertVU2YPR( const float vx, const float vy, const float vz, const float ux, const float uy, const float uz, float& yaw, float& pitch, float& roll )
void convertVU2YPR( const float vx, const float vy, const float vz, const float ux, const float uy, const float uz, float& yaw, float& pitch, float& roll )
{
double y, p, r;
convertVU2YPR( double( vx ), double( vy ), double( vz ), double( ux ), double( uy ), double( uz ), y, p, r );
......@@ -332,7 +344,7 @@ void convertVU2YPR( const float vx, const float vy, const float vz, const float
roll = float( r );
}
void convertVU2YPR( const double vx, const double vy, const double vz, const double ux, const double uy, const double uz, double& yaw, double& pitch, double& roll )
void convertVU2YPR( const double vx, const double vy, const double vz, const double ux, const double uy, const double uz, double& yaw, double& pitch, double& roll )
{
const float EPSILON = 0.0001F;
......@@ -407,7 +419,7 @@ void convertVU2YPR( const double vx, const double vy, const double vz, const dou
// Hint: cos(pitch) = cos( arcsin(vy) ) = sqrt(1-vy^2)
double cp = sqrt( 1 - vy*vy );
roll = ( zy <= 0 ? acos( uy / cp ) : -acos( uy / cp ) );
/* debug
double v_norm = vx*vx + vy*vy + vz*vz;
double u_norm = ux*ux + uy*uy + uz*uz;
......@@ -434,16 +446,32 @@ void pow2space( std::vector<int>& dest, const int a, const int b )
}
}
double theta2elevation( const double dThetaRAD )
{
if( dThetaRAD<0 || dThetaRAD>ITAConstants::PI_D )
ITA_EXCEPT1( INVALID_PARAMETER, "thetaRAD is only valid between 0 and PI" );
return ITAConstants::PI_D / 2.0f - dThetaRAD;
}
double elevation2theta( const double dElevationRAD )
{
if( abs( dElevationRAD ) < ITAConstants::PI_D / 2.0f )
ITA_EXCEPT1( INVALID_PARAMETER, "elevationRAD is only valid between -PI/2 and PI/2" );
return ITAConstants::PI_D / 2.0f - dElevationRAD;
}
int factorial( const int m )
{
if( m<0 )
if( m < 0 )
ITA_EXCEPT1( INVALID_PARAMETER, "Factorial can only be calculated for a positive integer" );
return ( m <= 1 ? 1 : m * factorial( m - 1 ) );
}
double SHNormalizeConst( const int m, const int n )
{
if( m>n )
if( m > n )
ITA_EXCEPT1( INVALID_PARAMETER, "Abs(degree) cannot be greater than order" );
double dRes = 0;
......@@ -452,11 +480,11 @@ double SHNormalizeConst( const int m, const int n )
else
dRes = 1;
dRes *= sqrt( ( 2.0f * n + 1 ) * ( 2.0f - SHKronecker( m ) ) * factorial( n - m ) / ( 4.0f * PI_F * factorial( n + m ) ) );
dRes *= sqrt( ( 2.0f * n + 1 ) * ( 2 - SHKronecker( m ) ) * double( factorial( n - m ) ) / ( 4.0f * PI_F * double( factorial( n + m ) ) ) );
return dRes;
}
int SHKronecker( const int m )
int SHKronecker( const int m )
{
if( m == 0 )
return 1;
......@@ -464,12 +492,13 @@ int SHKronecker( const int m )
return 0;
}
std::vector<double> SHRealvaluedBasefunctions( const double elevation_rad, const double azimuth_rad, const int maxOrder )
std::vector< double > SHRealvaluedBasefunctions( const double thetaRAD, const double azimuthRAD, const int maxOrder )
{
std::vector<double> Y;
Y.resize( ( maxOrder + 1 )*( maxOrder + 1 ) );
Y = SHAssociatedLegendre( maxOrder, cos( elevation_rad ) );
std::vector< double > Y;
int nmax = ( maxOrder + 1 )*( maxOrder + 1 );
Y.resize( nmax );
Y = SHAssociatedLegendre( maxOrder, cos( thetaRAD ) );
for( int n = 0; n <= maxOrder; n++ )
{
......@@ -477,14 +506,13 @@ std::vector<double> SHRealvaluedBasefunctions( const double elevation_rad, const
for( int m = 1; m <= n; m++ )
{
double Normalizing = SHNormalizeConst( m, n );
Y[ SHDegreeOrder2Linear( m, n ) ] *= cos( m*azimuth_rad )*Normalizing;
Y[ SHDegreeOrder2Linear( -m, n ) ] *= sin( m*azimuth_rad )*Normalizing;
Y[ SHDegreeOrder2Linear( m, n ) ] *= cos( m*azimuthRAD )*Normalizing;
Y[ SHDegreeOrder2Linear( -m, n ) ] *= sin( m*azimuthRAD )*Normalizing;
}
}
return Y;
}
std::vector<double> SHAssociatedLegendre( const int N, const double mu )
{
std::vector< double > P;
......@@ -516,3 +544,31 @@ int SHDegreeOrder2Linear( const int m, const int n )
return ( n*n + n + m );
}
std::vector< double > HOARemaxWeights( int iTruncationOrder )
{
if( iTruncationOrder > 20 )
ITA_EXCEPT1( INVALID_PARAMETER, "ReMAx decoding only implemented up to Truncatrion Order 20" );
std::vector< double > vdRemax;
double dMaxRootTable[ 21 ] = { 0.993752, 0.993129, 0.992407, 0.991565, 0.990575, 0.989401, 0.987993, 0.986284, 0.984183, 0.978229, 0.978229, 0.973907, 0.96816, 0.96029, 0.949108, 0.93247, 0.90618, 0.861136, 0.774597, 0.57735, 0 };
double dMaxRoot = dMaxRootTable[ 21 - iTruncationOrder - 1 ];
std::vector< double > vdAssoLegendre = ( SHAssociatedLegendre( iTruncationOrder, dMaxRoot ) );
for( int k = 0; k <= iTruncationOrder; k++ )
{
vdRemax.push_back( vdAssoLegendre[ SHDegreeOrder2Linear( 0, k ) ] );
}
return vdRemax;
}
void SHLinear2DegreeOrder( const int iLinear, int &m, int &n )
{
if( iLinear < 0 )
ITA_EXCEPT1( INVALID_PARAMETER, "The linear index has to be higher than one" );
std::vector<int> nm;
n = ( int ) floor( sqrt( ( double ) iLinear ) );
m = ( iLinear - n * n - n );
}
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