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Commit 428aba1d authored by Andy Hung's avatar Andy Hung Committed by Automerger Merge Worker
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Merge "Spatializer: Tuning for least squares prediction" into tm-qpr-dev am:... 

Merge "Spatializer: Tuning for least squares prediction" into tm-qpr-dev am: b404bc9e am: 71f310f1 am: 0d687080

Original change: https://googleplex-android-review.googlesource.com/c/platform/frameworks/av/+/22216373



Change-Id: I6d37bb16faac68259eeae237268fd8b26ca367e8
Signed-off-by: default avatarAutomerger Merge Worker <android-build-automerger-merge-worker@system.gserviceaccount.com>
parents cf89c2e2 0d687080

media/libheadtracking/PosePredictor.cpp

+15 −7
Original line number Diff line number Diff line
@@ -91,20 +91,23 @@ std::string LeastSquaresPredictor::toString(size_t index) const { 


// Formatting

static inline std::vector<size_t> createDelimiterIdx(size_t predictors, size_t lookaheads) {

    if (predictors == 0) return {};

    --predictors;

    std::vector<size_t> delimiterIdx(predictors);

    for (size_t i = 0; i < predictors; ++i) {

        delimiterIdx[i] = (i + 1) * lookaheads;

    if (lookaheads == 0) return {};

    --lookaheads;

    std::vector<size_t> delimiterIdx(lookaheads);

    for (size_t i = 0; i < lookaheads; ++i) {

        delimiterIdx[i] = (i + 1) * predictors;

    }

    return delimiterIdx;

}



PosePredictor::PosePredictor()

    : mPredictors{  // must match switch in getCurrentPredictor()

    : mPredictors{

            // First predictors must match switch in getCurrentPredictor()

            std::make_shared<LastPredictor>(),

            std::make_shared<TwistPredictor>(),

            std::make_shared<LeastSquaresPredictor>(),

            // After this, can place additional predictors here for comparison such as

            // std::make_shared<LeastSquaresPredictor>(0.25),

        }

    , mLookaheadMs(kLookAheadMs.begin(), kLookAheadMs.end())

    , mVerifiers(std::size(mLookaheadMs) * std::size(mPredictors))
@@ -195,7 +198,12 @@ std::string PosePredictor::toString(size_t index) const { 
    if constexpr (kEnableVerification) {

        // dump verification

        ss.append(prefixSpace)

            .append(" Prediction abs error (L1) degrees [ type (last twist least-squares) x ( ");

            .append(" Prediction abs error (L1) degrees [ type (");

        for (size_t i = 0; i < mPredictors.size(); ++i) {

            if (i > 0) ss.append(" , ");

            ss.append(mPredictors[i]->name());

        }

        ss.append(" ) x ( ");

        for (size_t i = 0; i < mLookaheadMs.size(); ++i) {

            if (i > 0) ss.append(" : ");

            ss.append(std::to_string(mLookaheadMs[i]));

media/libheadtracking/PosePredictor.h

+13 −1
Original line number Diff line number Diff line
@@ -32,6 +32,7 @@ public: 
    virtual void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) = 0;

    virtual Pose3f predict(int64_t atNs) const = 0;

    virtual void reset() = 0;

    virtual std::string name() const = 0;

    virtual std::string toString(size_t index) const = 0;

};
@@ -57,6 +58,10 @@ public: 
        mLastPose = {};

    }



    std::string name() const override {

        return "LAST";

    }



    std::string toString(size_t index) const override {

        std::string s(index, ' ');

        s.append("LastPredictor using last pose: ")
@@ -92,6 +97,10 @@ public: 
        mLastTwist = {};

    }



    std::string name() const override {

        return "TWIST";

    }



    std::string toString(size_t index) const override {

        std::string s(index, ' ');

        s.append("TwistPredictor using last pose: ")
@@ -130,13 +139,16 @@ public: 
    void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) override;

    Pose3f predict(int64_t atNs) const override;

    void reset() override;

    std::string name() const override {

        return "LEAST_SQUARES(" + std::to_string(mAlpha) + ")";

    }

    std::string toString(size_t index) const override;



private:

    const double mAlpha;

    int64_t mLastAtNs{};

    Pose3f mLastPose;

    static constexpr double kDefaultAlphaEstimator = 0.5;

    static constexpr double kDefaultAlphaEstimator = 0.2;

    static constexpr size_t kMinimumSamplesForPrediction = 4;

    audio_utils::LinearLeastSquaresFit<double> mRw;

    audio_utils::LinearLeastSquaresFit<double> mRx;

services/audiopolicy/service/SpatializerPoseController.cpp

+2 −2
Original line number Diff line number Diff line
@@ -108,8 +108,8 @@ SpatializerPoseController::SpatializerPoseController(Listener* listener, 
              .freshnessTimeout = Ticks(kFreshnessTimeout).count(),

              .predictionDuration = []() -> float {

                  const int duration_ms =

                          property_get_int32("audio.spatializer.prediction_duration_ms", 0);

                  if (duration_ms > 0) {

                          property_get_int32("audio.spatializer.prediction_duration_ms", -1);

                  if (duration_ms >= 0) {

                      return duration_ms * 1'000'000LL;

                  } else {

                      return Ticks(kPredictionDuration).count();