Merge "Fix head-pose prediction bug and increase time" (2d17f9e4) · Commits · e / os / android_frameworks_av

media/libheadtracking/include/media/Twist.h

+10 −0

Original line number	Diff line number	Diff line
		@@ -56,6 +56,16 @@ class Twist3f {
		mRotationalVelocity.isApprox(other.mRotationalVelocity, prec);
		}

		template<typename T>
		Twist3f operator*(const T& s) const {
		return Twist3f(mTranslationalVelocity * s, mRotationalVelocity * s);
		}

		template<typename T>
		Twist3f operator/(const T& s) const {
		return Twist3f(mTranslationalVelocity / s, mRotationalVelocity / s);
		}

		private:
		Eigen::Vector3f mTranslationalVelocity;
		Eigen::Vector3f mRotationalVelocity;

+3 −2

Original line number	Diff line number	Diff line
		@@ -44,7 +44,7 @@ constexpr float kMaxRotationalVelocity = 8;
		// twist (velocity). It should be set to a value that matches the characteristic durations of moving
		// one's head. The higher we set this, the more latency we are able to reduce, but setting this too
		// high will result in high prediction errors whenever the head accelerates (changes velocity).
		constexpr auto kPredictionDuration = 10ms;
		constexpr auto kPredictionDuration = 50ms;

		// After losing this many consecutive samples from either sensor, we would treat the measurement as
		// stale;
		@@ -236,7 +236,8 @@ void SpatializerPoseController::onPose(int64_t timestamp, int32_t sensor, const
		const std::optional<Twist3f>& twist, bool isNewReference) {
		std::lock_guard lock(mMutex);
		if (sensor == mHeadSensor) {
		mProcessor->setWorldToHeadPose(timestamp, pose, twist.value_or(Twist3f()));
		mProcessor->setWorldToHeadPose(timestamp, pose,
		twist.value_or(Twist3f()) / kTicksPerSecond);
		if (isNewReference) {
		mProcessor->recenter(true, false);
		}