Donate to e Foundation | Murena handsets with /e/OS | Own a part of Murena! Learn more

Commit 7901bddf authored by Ytai Ben-Tsvi's avatar Ytai Ben-Tsvi
Browse files

Fix display orientation handling 

- Apply the orientation compensator before the filter. Otherwise, we
  won't tend to identity, but rather to a rotated frame, which is
  incorrect.
- Enable rate limiting when orientation changes, but only when a new
  world-to-screen pose arrives. This makes sure that rate limiting is
  applied at the point of discontinuity regardless of the order of
  operations.

Test: atest --host libheadtracking-test
Bug: 188502620
Change-Id: I58e1c3807f875ae2735e65122a3ffb8483bde2a3
parent 9bae7429

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

+13 −7
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);

        }
@@ -129,6 +132,9 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
  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...