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1 /* | 1 /* |
2 * Copyright (c) 2015 The WebRTC project authors. All Rights Reserved. | 2 * Copyright (c) 2015 The WebRTC project authors. All Rights Reserved. |
3 * | 3 * |
4 * Use of this source code is governed by a BSD-style license | 4 * Use of this source code is governed by a BSD-style license |
5 * that can be found in the LICENSE file in the root of the source | 5 * that can be found in the LICENSE file in the root of the source |
6 * tree. An additional intellectual property rights grant can be found | 6 * tree. An additional intellectual property rights grant can be found |
7 * in the file PATENTS. All contributing project authors may | 7 * in the file PATENTS. All contributing project authors may |
8 * be found in the AUTHORS file in the root of the source tree. | 8 * be found in the AUTHORS file in the root of the source tree. |
9 */ | 9 */ |
10 | 10 |
11 #ifndef WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_ | 11 #ifndef WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_ |
12 #define WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_ | 12 #define WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_ |
13 | 13 |
14 #include <cmath> | 14 #include <cmath> |
15 #include <vector> | 15 #include <vector> |
16 | 16 |
17 #include "webrtc/base/maybe.h" | 17 #include "webrtc/base/optional.h" |
18 | 18 |
19 namespace webrtc { | 19 namespace webrtc { |
20 | 20 |
21 // Coordinates in meters. The convention used is: | 21 // Coordinates in meters. The convention used is: |
22 // x: the horizontal dimension, with positive to the right from the camera's | 22 // x: the horizontal dimension, with positive to the right from the camera's |
23 // perspective. | 23 // perspective. |
24 // y: the depth dimension, with positive forward from the camera's | 24 // y: the depth dimension, with positive forward from the camera's |
25 // perspective. | 25 // perspective. |
26 // z: the vertical dimension, with positive upwards. | 26 // z: the vertical dimension, with positive upwards. |
27 template<typename T> | 27 template<typename T> |
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52 | 52 |
53 bool AreParallel(const Point& a, const Point& b); | 53 bool AreParallel(const Point& a, const Point& b); |
54 bool ArePerpendicular(const Point& a, const Point& b); | 54 bool ArePerpendicular(const Point& a, const Point& b); |
55 | 55 |
56 // Returns the minimum distance between any two Points in the given | 56 // Returns the minimum distance between any two Points in the given |
57 // |array_geometry|. | 57 // |array_geometry|. |
58 float GetMinimumSpacing(const std::vector<Point>& array_geometry); | 58 float GetMinimumSpacing(const std::vector<Point>& array_geometry); |
59 | 59 |
60 // If the given array geometry is linear it returns the direction without | 60 // If the given array geometry is linear it returns the direction without |
61 // normalizing. | 61 // normalizing. |
62 rtc::Maybe<Point> GetDirectionIfLinear( | 62 rtc::Optional<Point> GetDirectionIfLinear( |
63 const std::vector<Point>& array_geometry); | 63 const std::vector<Point>& array_geometry); |
64 | 64 |
65 // If the given array geometry is planar it returns the normal without | 65 // If the given array geometry is planar it returns the normal without |
66 // normalizing. | 66 // normalizing. |
67 rtc::Maybe<Point> GetNormalIfPlanar(const std::vector<Point>& array_geometry); | 67 rtc::Optional<Point> GetNormalIfPlanar( |
| 68 const std::vector<Point>& array_geometry); |
68 | 69 |
69 // Returns the normal of an array if it has one and it is in the xy-plane. | 70 // Returns the normal of an array if it has one and it is in the xy-plane. |
70 rtc::Maybe<Point> GetArrayNormalIfExists( | 71 rtc::Optional<Point> GetArrayNormalIfExists( |
71 const std::vector<Point>& array_geometry); | 72 const std::vector<Point>& array_geometry); |
72 | 73 |
73 // The resulting Point will be in the xy-plane. | 74 // The resulting Point will be in the xy-plane. |
74 Point AzimuthToPoint(float azimuth); | 75 Point AzimuthToPoint(float azimuth); |
75 | 76 |
76 template<typename T> | 77 template<typename T> |
77 float Distance(CartesianPoint<T> a, CartesianPoint<T> b) { | 78 float Distance(CartesianPoint<T> a, CartesianPoint<T> b) { |
78 return std::sqrt((a.x() - b.x()) * (a.x() - b.x()) + | 79 return std::sqrt((a.x() - b.x()) * (a.x() - b.x()) + |
79 (a.y() - b.y()) * (a.y() - b.y()) + | 80 (a.y() - b.y()) * (a.y() - b.y()) + |
80 (a.z() - b.z()) * (a.z() - b.z())); | 81 (a.z() - b.z()) * (a.z() - b.z())); |
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107 } | 108 } |
108 | 109 |
109 template <typename T> | 110 template <typename T> |
110 T RadiansToDegrees(T angle_radians) { | 111 T RadiansToDegrees(T angle_radians) { |
111 return 180 * angle_radians / M_PI; | 112 return 180 * angle_radians / M_PI; |
112 } | 113 } |
113 | 114 |
114 } // namespace webrtc | 115 } // namespace webrtc |
115 | 116 |
116 #endif // WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_ | 117 #endif // WEBRTC_MODULES_AUDIO_PROCESSING_BEAMFORMER_ARRAY_UTIL_H_ |
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