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Commit 5e6c0f31 authored by Ytai Ben-Tsvi's avatar Ytai Ben-Tsvi
Browse files

Feed stillness detectors with pre-compensated poses 

The drift compensator may create motion (toward center) that doesn't
actually exist physically, thus interfering with our ability to
determine stillness.

Test: Manual verification.
Change-Id: Id645c535328f909d8a490352df06e2000a9ad44e
parent dd31ee05

media/libheadtracking/HeadTrackingProcessor.cpp

+4 −5
Original line number Diff line number Diff line
@@ -66,6 +66,7 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
        Pose3f predictedWorldToHead =

                worldToHead * integrate(headTwist, mOptions.predictionDuration);

        mHeadPoseDriftCompensator.setInput(timestamp, predictedWorldToHead);

        mHeadStillnessDetector.setInput(timestamp, predictedWorldToHead);

        mWorldToHeadTimestamp = timestamp;

    }
@@ -76,8 +77,9 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
            mPhysicalToLogicalAngle = mPendingPhysicalToLogicalAngle;

        }



        mScreenPoseDriftCompensator.setInput(

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

        Pose3f worldToLogicalScreen = worldToScreen * Pose3f(rotateY(-mPhysicalToLogicalAngle));

        mScreenPoseDriftCompensator.setInput(timestamp, worldToLogicalScreen);

        mScreenStillnessDetector.setInput(timestamp, worldToLogicalScreen);

        mWorldToScreenTimestamp = timestamp;

    }
@@ -93,8 +95,6 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
        // Handle the screen first, since it might trigger a recentering of the head.

        if (mWorldToScreenTimestamp.has_value()) {

            const Pose3f worldToLogicalScreen = mScreenPoseDriftCompensator.getOutput();

            mScreenStillnessDetector.setInput(mWorldToScreenTimestamp.value(),

                                              worldToLogicalScreen);

            bool screenStable = mScreenStillnessDetector.calculate(timestamp);

            mModeSelector.setScreenStable(mWorldToScreenTimestamp.value(), screenStable);

            // Whenever the screen is unstable, recenter the head pose.
@@ -108,7 +108,6 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
        // Handle head.

        if (mWorldToHeadTimestamp.has_value()) {

            Pose3f worldToHead = mHeadPoseDriftCompensator.getOutput();

            mHeadStillnessDetector.setInput(mWorldToHeadTimestamp.value(), worldToHead);

            // Auto-recenter.

            if (mHeadStillnessDetector.calculate(timestamp)) {

                recenter(true, false);