Added SoundFilters namespace

Added soundfilters::resample() method

src/libYARP_sig/src/CMakeLists.txt

@@ -24,6 +24,7 @@ set(YARP_sig_HDRS
   yarp/sig/PointCloudUtils-inl.h
   yarp/sig/Sound.h
   yarp/sig/SoundFile.h
+  yarp/sig/SoundFilters.h
   yarp/sig/SoundFileMp3.h
   yarp/sig/SoundFileWav.h
   yarp/sig/Vector.h
@@ -45,6 +46,7 @@ set(YARP_sig_SRCS
   yarp/sig/PointCloudBase.cpp
   yarp/sig/PointCloudUtils.cpp
   yarp/sig/Sound.cpp
+  yarp/sig/SoundFilters.cpp
   yarp/sig/SoundFile.cpp
   yarp/sig/SoundFileMp3.cpp
   yarp/sig/SoundFileWav.cpp
@@ -116,6 +118,13 @@ if(YARP_HAS_JPEG)
   list(APPEND YARP_sig_PRIVATE_DEPS JPEG)
 endif()
 
+if(YARP_HAS_SOXR)
+  target_include_directories(YARP_sig SYSTEM PRIVATE ${SOXR_INCLUDE_DIR})
+  target_compile_definitions(YARP_sig PRIVATE YARP_HAS_SOXR)
+  target_link_libraries(YARP_sig PRIVATE ${SOXR_LIBRARY})
+  list(APPEND YARP_sig_PRIVATE_DEPS SOXR)
+endif()
+
 if(YARP_HAS_ZLIB)
   target_include_directories(YARP_sig SYSTEM PRIVATE ${ZLIB_INCLUDE_DIR})
   target_compile_definitions(YARP_sig PRIVATE YARP_HAS_ZLIB)

src/libYARP_sig/src/yarp/sig/SoundFilters.cpp

@@ -0,0 +1,86 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <yarp/sig/SoundFilters.h>
+
+#include <yarp/os/Log.h>
+#include <yarp/os/LogStream.h>
+
+using namespace yarp::os;
+using namespace yarp::sig;
+using namespace yarp::sig::soundfilters;
+
+namespace
+{
+    YARP_LOG_COMPONENT(SOUNDFILTERS, "yarp.sig.SoundFilters")
+}
+
+#if defined (YARP_HAS_SOXR)
+#include <soxr.h>
+#endif
+
+//#######################################################################################################
+
+bool yarp::sig::soundfilters::resample(yarp::sig::Sound& snd, size_t frequency)
+{
+#if !defined (YARP_HAS_SOXR)
+
+    yCError(SOUNDFILTERS) << "libsoxr not available";
+    return false;
+#else
+    //configuration
+    soxr_io_spec_t tit;
+    tit.itype = SOXR_INT16_I;
+    tit.otype = SOXR_INT16_I;
+    tit.scale = 1.0;
+
+    double irate = snd.getFrequency();
+    double orate = double(frequency);
+    size_t ilen = snd.getSamples();
+    yarp::sig::Sound::audio_sample* arri = new yarp::sig::Sound::audio_sample[ilen];
+
+    //copy from sound to buffer
+    for (size_t t = 0; t < ilen; t++)
+    {
+        for (size_t c = 0; c < 1; c++)
+        {
+            arri[t] = snd.getSafe(t, c);
+        }
+    }
+
+    size_t olen = (size_t)(ilen * orate / irate + .5);
+    yarp::sig::Sound::audio_sample* arro = new yarp::sig::Sound::audio_sample[olen];
+
+    //resample
+    size_t odone;
+    soxr_error_t error = soxr_oneshot(irate, orate, 1,            // Rates and # of channels
+        arri, ilen, NULL,           // Input
+        arro, olen, &odone,         // Output
+        &tit, NULL, NULL);          // Configuration
+    if (error != 0)
+    {
+        yCError(SOUNDFILTERS) << "libsoxr resample failed";
+        delete[]arri;
+        delete[]arro;
+    }
+
+    //copy from buffer to sound
+    snd.setFrequency(size_t(orate));
+    snd.resize(olen);
+    for (size_t t = 0; t < olen; t++)
+    {
+        for (size_t c = 0; c < 1; c++)
+        {
+            snd.setSafe(arro[t], t, c);
+        }
+    }
+
+    //clear buffer
+    delete[]arri;
+    delete[]arro;
+
+    return true;
+#endif
+}

src/libYARP_sig/src/yarp/sig/SoundFilters.h

@@ -0,0 +1,25 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#ifndef YARP_SIG_SOUNDFILTERS_H
+#define YARP_SIG_SOUNDFILTERS_H
+
+#include <yarp/sig/Sound.h>
+
+namespace yarp {
+    namespace sig{
+        namespace soundfilters {
+            /**
+             * Resample a sound
+             * @param snd the sound to resample
+             * @param frequency the output frequency
+             * @return true on success
+             */
+            bool YARP_sig_API resample(yarp::sig::Sound& snd, size_t frequency);
+        }
+    }
+}
+
+#endif // YARP_SIG_SOUNDFILTERS_H