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Commit 65002514 authored by Robert Dalton's avatar Robert Dalton Committed by Android (Google) Code Review
Browse files

Merge "Tune stillness detector for more responsive headtracking" into tm-qpr-dev

parents 72cb1621 ec0c3289

media/libheadtracking/HeadTrackingProcessor.cpp

+6 −3
Original line number Diff line number Diff line
@@ -88,10 +88,12 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
    }



    void calculate(int64_t timestamp) override {

        // Handle the screen first, since it might trigger a recentering of the head.

        bool screenStable = true;



        // Handle the screen first, since it might: trigger a recentering of the head.

        if (mWorldToScreenTimestamp.has_value()) {

            const Pose3f worldToLogicalScreen = mScreenPoseBias.getOutput();

            bool screenStable = mScreenStillnessDetector.calculate(timestamp);

            screenStable = mScreenStillnessDetector.calculate(timestamp);

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

            // Whenever the screen is unstable, recenter the head pose.

            if (!screenStable) {
@@ -105,7 +107,8 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
        if (mWorldToHeadTimestamp.has_value()) {

            Pose3f worldToHead = mHeadPoseBias.getOutput();

            // Auto-recenter.

            if (mHeadStillnessDetector.calculate(timestamp)) {

            bool headStable = mHeadStillnessDetector.calculate(timestamp);

            if (headStable || !screenStable) {

                recenter(true, false);

                worldToHead = mHeadPoseBias.getOutput();

            }

media/libheadtracking/StillnessDetector.cpp

+18 −5
Original line number Diff line number Diff line
@@ -26,6 +26,9 @@ void StillnessDetector::reset() { 
    mFifo.clear();

    mWindowFull = false;

    mSuppressionDeadline.reset();

    // A "true" state indicates stillness is detected (default = true)

    mCurrentState = true;

    mPreviousState = true;

}



void StillnessDetector::setInput(int64_t timestamp, const Pose3f& input) {
@@ -33,7 +36,15 @@ void StillnessDetector::setInput(int64_t timestamp, const Pose3f& input) { 
    discardOld(timestamp);

}



bool StillnessDetector::getPreviousState() const {

    return mPreviousState;

}



bool StillnessDetector::calculate(int64_t timestamp) {

    // Move the current stillness state to the previous state.

    // This allows us to detect transitions into and out of stillness.

    mPreviousState = mCurrentState;



    discardOld(timestamp);



    // Check whether all the poses in the queue are in the proximity of the new one. We want to do
@@ -60,15 +71,17 @@ bool StillnessDetector::calculate(int64_t timestamp) { 


    // If the window has not been full, return the default value.

    if (!mWindowFull) {

        return mOptions.defaultValue;

        mCurrentState = mOptions.defaultValue;

    }



    // Force "in motion" while the suppression deadline is active.

    if (mSuppressionDeadline.has_value()) {

        return false;

    else if (mSuppressionDeadline.has_value()) {

        mCurrentState = false;

    }

    else {

        mCurrentState = !moved;

    }



    return !moved;

    return mCurrentState;

}



void StillnessDetector::discardOld(int64_t timestamp) {

media/libheadtracking/StillnessDetector.h

+4 −1
Original line number Diff line number Diff line
@@ -80,7 +80,8 @@ class StillnessDetector { 
    void setInput(int64_t timestamp, const Pose3f& input);

    /** Calculate whether the stream is still at the given timestamp. */

    bool calculate(int64_t timestamp);



    /** Return the stillness state from the previous call to calculate() */

    bool getPreviousState() const;

  private:

    struct TimestampedPose {

        int64_t timestamp;
@@ -92,6 +93,8 @@ class StillnessDetector { 
    const float mCosHalfRotationalThreshold;

    std::deque<TimestampedPose> mFifo;

    bool mWindowFull = false;

    bool mCurrentState = true;

    bool mPreviousState = true;

    // As soon as motion is detected, this will be set for the time of detection + window duration,

    // and during this time we will always consider outselves in motion without checking. This is

    // used for hyteresis purposes, since because of the approximate method we use for determining

services/audiopolicy/service/SpatializerPoseController.cpp

+2 −2
Original line number Diff line number Diff line
@@ -65,13 +65,13 @@ constexpr float kAutoRecenterRotationThreshold = 10.5f / 180 * M_PI; 


// Screen is considered to be unstable (not still) if it has moved significantly within the last

// time window of this duration.

constexpr auto kScreenStillnessWindowDuration = 3s;

constexpr auto kScreenStillnessWindowDuration = 750ms;



// Screen is considered to have moved significantly if translated by this much (in meter, approx).

constexpr float kScreenStillnessTranslationThreshold = 0.1f;



// Screen is considered to have moved significantly if rotated by this much (in radians, approx).

constexpr float kScreenStillnessRotationThreshold = 7.0f / 180 * M_PI;

constexpr float kScreenStillnessRotationThreshold = 15.0f / 180 * M_PI;



// Time units for system clock ticks. This is what the Sensor Framework timestamps represent and

// what we use for pose filtering.