af476c737f
There's no longer any need to make the two arguments have the same signedness, so we can drop the "u" suffix on literal integer arguments. NOPRESUBMIT=true BUG=webrtc:6645 Review-Url: https://codereview.webrtc.org/2535593002 Cr-Commit-Position: refs/heads/master@{#15280}
120 lines
3.7 KiB
C++
120 lines
3.7 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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#include "webrtc/modules/audio_processing/beamformer/array_util.h"
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#include <algorithm>
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#include <limits>
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#include "webrtc/base/checks.h"
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namespace webrtc {
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namespace {
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const float kMaxDotProduct = 1e-6f;
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} // namespace
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float GetMinimumSpacing(const std::vector<Point>& array_geometry) {
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RTC_CHECK_GT(array_geometry.size(), 1);
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float mic_spacing = std::numeric_limits<float>::max();
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for (size_t i = 0; i < (array_geometry.size() - 1); ++i) {
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for (size_t j = i + 1; j < array_geometry.size(); ++j) {
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mic_spacing =
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std::min(mic_spacing, Distance(array_geometry[i], array_geometry[j]));
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}
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}
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return mic_spacing;
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}
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Point PairDirection(const Point& a, const Point& b) {
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return {b.x() - a.x(), b.y() - a.y(), b.z() - a.z()};
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}
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float DotProduct(const Point& a, const Point& b) {
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return a.x() * b.x() + a.y() * b.y() + a.z() * b.z();
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}
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Point CrossProduct(const Point& a, const Point& b) {
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return {a.y() * b.z() - a.z() * b.y(), a.z() * b.x() - a.x() * b.z(),
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a.x() * b.y() - a.y() * b.x()};
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}
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bool AreParallel(const Point& a, const Point& b) {
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Point cross_product = CrossProduct(a, b);
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return DotProduct(cross_product, cross_product) < kMaxDotProduct;
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}
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bool ArePerpendicular(const Point& a, const Point& b) {
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return std::abs(DotProduct(a, b)) < kMaxDotProduct;
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}
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rtc::Optional<Point> GetDirectionIfLinear(
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const std::vector<Point>& array_geometry) {
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RTC_DCHECK_GT(array_geometry.size(), 1);
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const Point first_pair_direction =
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PairDirection(array_geometry[0], array_geometry[1]);
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for (size_t i = 2u; i < array_geometry.size(); ++i) {
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const Point pair_direction =
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PairDirection(array_geometry[i - 1], array_geometry[i]);
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if (!AreParallel(first_pair_direction, pair_direction)) {
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return rtc::Optional<Point>();
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}
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}
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return rtc::Optional<Point>(first_pair_direction);
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}
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rtc::Optional<Point> GetNormalIfPlanar(
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const std::vector<Point>& array_geometry) {
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RTC_DCHECK_GT(array_geometry.size(), 1);
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const Point first_pair_direction =
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PairDirection(array_geometry[0], array_geometry[1]);
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Point pair_direction(0.f, 0.f, 0.f);
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size_t i = 2u;
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bool is_linear = true;
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for (; i < array_geometry.size() && is_linear; ++i) {
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pair_direction = PairDirection(array_geometry[i - 1], array_geometry[i]);
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if (!AreParallel(first_pair_direction, pair_direction)) {
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is_linear = false;
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}
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}
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if (is_linear) {
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return rtc::Optional<Point>();
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}
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const Point normal_direction =
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CrossProduct(first_pair_direction, pair_direction);
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for (; i < array_geometry.size(); ++i) {
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pair_direction = PairDirection(array_geometry[i - 1], array_geometry[i]);
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if (!ArePerpendicular(normal_direction, pair_direction)) {
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return rtc::Optional<Point>();
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}
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}
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return rtc::Optional<Point>(normal_direction);
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}
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rtc::Optional<Point> GetArrayNormalIfExists(
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const std::vector<Point>& array_geometry) {
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const rtc::Optional<Point> direction = GetDirectionIfLinear(array_geometry);
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if (direction) {
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return rtc::Optional<Point>(Point(direction->y(), -direction->x(), 0.f));
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}
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const rtc::Optional<Point> normal = GetNormalIfPlanar(array_geometry);
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if (normal && normal->z() < kMaxDotProduct) {
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return normal;
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}
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return rtc::Optional<Point>();
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}
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Point AzimuthToPoint(float azimuth) {
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return Point(std::cos(azimuth), std::sin(azimuth), 0.f);
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}
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} // namespace webrtc
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