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Commit 1f10f72c authored by Ytai Ben-tsvi's avatar Ytai Ben-tsvi Committed by Android (Google) Code Review
Browse files

Merge changes I58e1c380,I3aa1f225,Ifb73050e into sc-v2-dev 

* changes:
  Fix display orientation handling
  Better support for head and screen sensors being the same one
  Refine the recenter operation
parents 4cd7136c 7901bddf

media/libheadtracking/HeadTrackingProcessor-test.cpp

+1 −1
Original line number Diff line number Diff line
@@ -53,10 +53,10 @@ TEST(HeadTrackingProcessor, BasicComposition) { 
    processor->setWorldToHeadPose(0, Pose3f(), Twist3f());

    processor->setWorldToScreenPose(0, Pose3f());



    processor->setDisplayOrientation(physicalToLogical);

    processor->setWorldToHeadPose(0, worldToHead, Twist3f());

    processor->setWorldToScreenPose(0, worldToScreen);

    processor->setScreenToStagePose(screenToStage);

    processor->setDisplayOrientation(physicalToLogical);

    processor->calculate(0);

    ASSERT_EQ(processor->getActualMode(), HeadTrackingMode::SCREEN_RELATIVE);

    EXPECT_EQ(processor->getHeadToStagePose(), worldToHead.inverse() * worldToScreen *

media/libheadtracking/HeadTrackingProcessor.cpp

+29 −11
Original line number Diff line number Diff line
@@ -57,7 +57,14 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
    }



    void setWorldToScreenPose(int64_t timestamp, const Pose3f& worldToScreen) override {

        mScreenPoseDriftCompensator.setInput(timestamp, worldToScreen);

        if (mPhysicalToLogicalAngle != mPendingPhysicalToLogicalAngle) {

            // We're introducing an artificial discontinuity. Enable the rate limiter.

            mRateLimiter.enable();

            mPhysicalToLogicalAngle = mPendingPhysicalToLogicalAngle;

        }



        mScreenPoseDriftCompensator.setInput(

                timestamp, worldToScreen * Pose3f(rotateY(-mPhysicalToLogicalAngle)));

        mWorldToScreenTimestamp = timestamp;

    }
@@ -66,10 +73,7 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
    }



    void setDisplayOrientation(float physicalToLogicalAngle) override {

        if (mPhysicalToLogicalAngle != physicalToLogicalAngle) {

            mRateLimiter.enable();

        }

        mPhysicalToLogicalAngle = physicalToLogicalAngle;

        mPendingPhysicalToLogicalAngle = physicalToLogicalAngle;

    }



    void calculate(int64_t timestamp) override {
@@ -80,8 +84,7 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
        }



        if (mWorldToScreenTimestamp.has_value()) {

            const Pose3f worldToLogicalScreen = mScreenPoseDriftCompensator.getOutput() *

                                                Pose3f(rotateY(-mPhysicalToLogicalAngle));

            const Pose3f worldToLogicalScreen = mScreenPoseDriftCompensator.getOutput();

            mScreenHeadFusion.setWorldToScreenPose(mWorldToScreenTimestamp.value(),

                                                   worldToLogicalScreen);

        }
@@ -108,15 +111,30 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 


    HeadTrackingMode getActualMode() const override { return mModeSelector.getActualMode(); }



    void recenter() override {

    void recenter(bool recenterHead, bool recenterScreen) override {

        if (recenterHead) {

            mHeadPoseDriftCompensator.recenter();

        }

        if (recenterScreen) {

            mScreenPoseDriftCompensator.recenter();

        }



        // If a sensor being recentered is included in the current mode, apply rate limiting to

        // avoid discontinuities.

        HeadTrackingMode mode = mModeSelector.getActualMode();

        if ((recenterHead && (mode == HeadTrackingMode::WORLD_RELATIVE ||

                              mode == HeadTrackingMode::SCREEN_RELATIVE)) ||

            (recenterScreen && mode == HeadTrackingMode::SCREEN_RELATIVE)) {

            mRateLimiter.enable();

        }

    }



  private:

    const Options mOptions;

    float mPhysicalToLogicalAngle = 0;

    // We store the physical to logical angle as "pending" until the next world-to-screen sample it

    // applies to arrives.

    float mPendingPhysicalToLogicalAngle = 0;

    std::optional<int64_t> mWorldToHeadTimestamp;

    std::optional<int64_t> mWorldToScreenTimestamp;

    Pose3f mHeadToStagePose;

media/libheadtracking/PoseProcessingGraph.png

−122 B (38.9 KiB)
Loading image diff...

media/libheadtracking/include/media/HeadTrackingProcessor.h

+2 −2
Original line number Diff line number Diff line
@@ -89,9 +89,9 @@ class HeadTrackingProcessor { 
    virtual HeadTrackingMode getActualMode() const = 0;



    /**

     * This causes the current poses for both the head and screen to be considered "center".

     * This causes the current poses for both the head and/or screen to be considered "center".

     */

    virtual void recenter() = 0;

    virtual void recenter(bool recenterHead = true, bool recenterScreen = true) = 0;

};



/**

media/libheadtracking/include/media/SensorPoseProvider.h

+4 −2
Original line number Diff line number Diff line
@@ -77,11 +77,13 @@ class SensorPoseProvider { 


    /**

     * Start receiving pose updates from a given sensor.

     * Attempting to start a sensor that has already been started results in undefined behavior.

     * @param sensor The sensor to subscribe to.

     * @param samplingPeriod Sampling interval, in microseconds. Actual rate might be slightly

     * different.

     * @return A handle, which can be later used for stopSensor(). INVALID_HANDLE would be returned

     * in case of error.

     * @return The sensor handle, which can be later used for stopSensor(). INVALID_HANDLE would be

     * returned in case of error. This is guaranteed to be the same handle as the one returned by

     * ASensor_getHandle(sensor).

     */

    virtual int32_t startSensor(const ASensor* sensor,

                                std::chrono::microseconds samplingPeriod) = 0;