Merge "Spatializer: Tuning for least squares prediction" into tm-qpr-dev (b404bc9e) · Commits · e / devices / smdk4412 / android_frameworks_av

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();