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Make the nonlinear beamformer steerable

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Depends on this CL: https://codereview.webrtc.org/1395453004/

R=andrew@webrtc.org

Review URL: https://codereview.webrtc.org/1394103003 .

Cr-Commit-Position: refs/heads/master@{#10458}
This commit is contained in:
Alejandro Luebs
2015-10-29 18:21:34 -07:00
parent 7367463acc
commit cb3f9bd9c0
12 changed files with 613 additions and 98 deletions
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55
webrtc/modules/audio_processing/beamformer/array_util.h
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@ -14,11 +14,23 @@
#include <cmath>
#include <vector>
#include "webrtc/base/maybe.h"
namespace webrtc {
// Coordinates in meters.
// Coordinates in meters. The convention used is:
// x: the horizontal dimension, with positive to the right from the camera's
// perspective.
// y: the depth dimension, with positive forward from the camera's
// perspective.
// z: the vertical dimension, with positive upwards.
template<typename T>
struct CartesianPoint {
CartesianPoint() {
c[0] = 0;
c[1] = 0;
c[2] = 0;
}
CartesianPoint(T x, T y, T z) {
c[0] = x;
c[1] = y;
@ -32,10 +44,35 @@ struct CartesianPoint {
using Point = CartesianPoint<float>;
// Calculates the direction from a to b.
Point PairDirection(const Point& a, const Point& b);
float DotProduct(const Point& a, const Point& b);
Point CrossProduct(const Point& a, const Point& b);
bool AreParallel(const Point& a, const Point& b);
bool ArePerpendicular(const Point& a, const Point& b);
// Returns the minimum distance between any two Points in the given
// |array_geometry|.
float GetMinimumSpacing(const std::vector<Point>& array_geometry);
// If the given array geometry is linear it returns the direction without
// normalizing.
rtc::Maybe<Point> GetDirectionIfLinear(
const std::vector<Point>& array_geometry);
// If the given array geometry is planar it returns the normal without
// normalizing.
rtc::Maybe<Point> GetNormalIfPlanar(const std::vector<Point>& array_geometry);
// Returns the normal of an array if it has one and it is in the xy-plane.
rtc::Maybe<Point> GetArrayNormalIfExists(
const std::vector<Point>& array_geometry);
// The resulting Point will be in the xy-plane.
Point AzimuthToPoint(float azimuth);
template<typename T>
float Distance(CartesianPoint<T> a, CartesianPoint<T> b) {
return std::sqrt((a.x() - b.x()) * (a.x() - b.x()) +
@ -43,6 +80,11 @@ float Distance(CartesianPoint<T> a, CartesianPoint<T> b) {
(a.z() - b.z()) * (a.z() - b.z()));
}
// The convention used:
// azimuth: zero is to the right from the camera's perspective, with positive
// angles in radians counter-clockwise.
// elevation: zero is horizontal, with positive angles in radians upwards.
// radius: distance from the camera in meters.
template <typename T>
struct SphericalPoint {
SphericalPoint(T azimuth, T elevation, T radius) {
@ -58,6 +100,17 @@ struct SphericalPoint {
using SphericalPointf = SphericalPoint<float>;
// Helper functions to transform degrees to radians and the inverse.
template <typename T>
T DegreesToRadians(T angle_degrees) {
return M_PI * angle_degrees / 180;
}
template <typename T>
T RadiansToDegrees(T angle_radians) {
return 180 * angle_radians / M_PI;
}
} // namespace webrtc
#endif // WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_