Snap for 9043175 from 0324a3944771596cee07ae0d3351200746fc73fa to tm-qpr1-release (826817e2) · Commits · e / os / android_frameworks_av

media/libheadtracking/Android.bp

+1 −0

Original line number	Diff line number	Diff line
		@@ -83,6 +83,7 @@ cc_test_host {
		"Twist-test.cpp",
		],
		shared_libs: [
		"libaudioutils",
		"libheadtracking",
		],
		}

media/libheadtracking/HeadTrackingProcessor.cpp

+30 −17

Original line number	Diff line number	Diff line
		@@ -164,29 +164,30 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor {
		std::string toString_l(unsigned level) const override {
		std::string prefixSpace(level, ' ');
		std::string ss = prefixSpace + "HeadTrackingProcessor:\n";
		StringAppendF(&ss, "%smaxTranslationalVelocity: %f\n", prefixSpace.c_str(),
		StringAppendF(&ss, "%s maxTranslationalVelocity: %f meter/second\n", prefixSpace.c_str(),
		mOptions.maxTranslationalVelocity);
		StringAppendF(&ss, "%smaxRotationalVelocity: %f\n", prefixSpace.c_str(),
		StringAppendF(&ss, "%s maxRotationalVelocity: %f rad/second\n", prefixSpace.c_str(),
		mOptions.maxRotationalVelocity);
		StringAppendF(&ss, "%sfreshnessTimeout: %" PRId64 "\n", prefixSpace.c_str(),
		mOptions.freshnessTimeout);
		StringAppendF(&ss, "%spredictionDuration: %f\n", prefixSpace.c_str(),
		mOptions.predictionDuration);
		StringAppendF(&ss, "%sautoRecenterWindowDuration: %" PRId64 "\n", prefixSpace.c_str(),
		mOptions.autoRecenterWindowDuration);
		StringAppendF(&ss, "%sautoRecenterTranslationalThreshold: %f\n", prefixSpace.c_str(),
		StringAppendF(&ss, "%s freshnessTimeout: %0.4f ms\n", prefixSpace.c_str(),
		media::nsToFloatMs(mOptions.freshnessTimeout));
		StringAppendF(&ss, "%s predictionDuration: %0.4f ms\n", prefixSpace.c_str(),
		media::nsToFloatMs(mOptions.predictionDuration));
		StringAppendF(&ss, "%s autoRecenterWindowDuration: %0.4f ms\n", prefixSpace.c_str(),
		media::nsToFloatMs(mOptions.autoRecenterWindowDuration));
		StringAppendF(&ss, "%s autoRecenterTranslationalThreshold: %f meter\n", prefixSpace.c_str(),
		mOptions.autoRecenterTranslationalThreshold);
		StringAppendF(&ss, "%sautoRecenterRotationalThreshold: %f\n", prefixSpace.c_str(),
		StringAppendF(&ss, "%s autoRecenterRotationalThreshold: %f radians\n", prefixSpace.c_str(),
		mOptions.autoRecenterRotationalThreshold);
		StringAppendF(&ss, "%sscreenStillnessWindowDuration: %" PRId64 "\n", prefixSpace.c_str(),
		mOptions.screenStillnessWindowDuration);
		StringAppendF(&ss, "%sscreenStillnessTranslationalThreshold: %f\n", prefixSpace.c_str(),
		mOptions.screenStillnessTranslationalThreshold);
		StringAppendF(&ss, "%sscreenStillnessRotationalThreshold: %f\n", prefixSpace.c_str(),
		mOptions.screenStillnessRotationalThreshold);
		StringAppendF(&ss, "%s screenStillnessWindowDuration: %0.4f ms\n", prefixSpace.c_str(),
		media::nsToFloatMs(mOptions.screenStillnessWindowDuration));
		StringAppendF(&ss, "%s screenStillnessTranslationalThreshold: %f meter\n",
		prefixSpace.c_str(), mOptions.screenStillnessTranslationalThreshold);
		StringAppendF(&ss, "%s screenStillnessRotationalThreshold: %f radians\n",
		prefixSpace.c_str(), mOptions.screenStillnessRotationalThreshold);
		ss += mModeSelector.toString(level + 1);
		ss += mRateLimiter.toString(level + 1);
		ss.append(prefixSpace + "ReCenterHistory:\n");
		ss += mLocalLog.dumpToString((prefixSpace + " ").c_str(), mMaxLocalLogLine);
		// TODO: 233092747 add string from PoseRateLimiter/PoseRateLimiter etc...
		return ss;
		}

		@@ -217,5 +218,17 @@ std::unique_ptr<HeadTrackingProcessor> createHeadTrackingProcessor(
		return std::make_unique<HeadTrackingProcessorImpl>(options, initialMode);
		}

		std::string toString(HeadTrackingMode mode) {
		switch (mode) {
		case HeadTrackingMode::STATIC:
		return "STATIC";
		case HeadTrackingMode::WORLD_RELATIVE:
		return "WORLD_RELATIVE";
		case HeadTrackingMode::SCREEN_RELATIVE:
		return "SCREEN_RELATIVE";
		}
		return "EnumNotImplemented";
		};

		} // namespace media
		} // namespace android

media/libheadtracking/ModeSelector.cpp

+32 −7

Original line number	Diff line number	Diff line
		@@ -13,11 +13,13 @@
		* See the License for the specific language governing permissions and
		* limitations under the License.
		*/
		#include <android-base/stringprintf.h>

		#include "ModeSelector.h"

		namespace android {
		namespace media {
		using android::base::StringAppendF;

		ModeSelector::ModeSelector(const Options& options, HeadTrackingMode initialMode)
		: mOptions(options), mDesiredMode(initialMode), mActualMode(initialMode) {}
		@@ -47,12 +49,15 @@ void ModeSelector::setScreenStable(int64_t timestamp, bool stable) {
		}

		void ModeSelector::calculateActualMode(int64_t timestamp) {
		bool isValidScreenToHead = mScreenToHead.has_value() &&
		timestamp - mScreenToHeadTimestamp < mOptions.freshnessTimeout;
		bool isValidWorldToHead = mWorldToHead.has_value() &&
		timestamp - mWorldToHeadTimestamp < mOptions.freshnessTimeout;
		bool isValidScreenStable = mScreenStable.has_value() &&
		timestamp - mScreenStableTimestamp < mOptions.freshnessTimeout;
		int64_t screenToHeadGap = timestamp - mScreenToHeadTimestamp;
		int64_t worldToHeadGap = timestamp - mWorldToHeadTimestamp;
		int64_t screenStableGap = timestamp - mScreenStableTimestamp;
		bool isValidScreenToHead =
		mScreenToHead.has_value() && screenToHeadGap < mOptions.freshnessTimeout;
		bool isValidWorldToHead =
		mWorldToHead.has_value() && worldToHeadGap < mOptions.freshnessTimeout;
		bool isValidScreenStable =
		mScreenStable.has_value() && screenStableGap < mOptions.freshnessTimeout;

		HeadTrackingMode mode = mDesiredMode;

		@@ -70,8 +75,18 @@ void ModeSelector::calculateActualMode(int64_t timestamp) {
		}
		}

		if (mode != mActualMode) {
		mLocalLog.log(
		"HT mode change from %s to %s, this ts %0.4f ms, lastTs+gap [ScreenToHead %0.4f + "
		"%0.4f, WorldToHead %0.4f + %0.4f, ScreenStable %0.4f + %0.4f] ms",
		media::toString(mActualMode).c_str(), media::toString(mode).c_str(),
		media::nsToFloatMs(timestamp), media::nsToFloatMs(mScreenToHeadTimestamp),
		media::nsToFloatMs(screenToHeadGap), media::nsToFloatMs(mWorldToHeadTimestamp),
		media::nsToFloatMs(worldToHeadGap), media::nsToFloatMs(mScreenStableTimestamp),
		media::nsToFloatMs(screenStableGap));
		mActualMode = mode;
		}
		}

		void ModeSelector::calculate(int64_t timestamp) {
		calculateActualMode(timestamp);
		@@ -99,5 +114,15 @@ HeadTrackingMode ModeSelector::getActualMode() const {
		return mActualMode;
		}

		std::string ModeSelector::toString(unsigned level) const {
		std::string prefixSpace(level, ' ');
		std::string ss(prefixSpace);
		StringAppendF(&ss, "ModeSelector: ScreenToStage %s\n",
		mScreenToStage.toString().c_str());
		ss.append(prefixSpace + "Mode downgrade history:\n");
		ss += mLocalLog.dumpToString((prefixSpace + " ").c_str(), sMaxLocalLogLine);
		return ss;
		}

		} // namespace media
		} // namespace android

media/libheadtracking/ModeSelector.h

+6 −0

Original line number	Diff line number	Diff line
		@@ -16,6 +16,7 @@
		#pragma once

		#include <optional>
		#include <audio_utils/SimpleLog.h>

		#include "media/HeadTrackingMode.h"
		#include "media/Pose.h"
		@@ -114,6 +115,8 @@ class ModeSelector {
		*/
		HeadTrackingMode getActualMode() const;

		std::string toString(unsigned level) const;

		private:
		const Options mOptions;

		@@ -129,6 +132,9 @@ class ModeSelector {
		HeadTrackingMode mActualMode;
		Pose3f mHeadToStage;

		static constexpr std::size_t sMaxLocalLogLine = 10;
		SimpleLog mLocalLog{sMaxLocalLogLine};

		void calculateActualMode(int64_t timestamp);
		};

media/libheadtracking/Pose.cpp

+15 −0

Original line number	Diff line number	Diff line
		@@ -13,6 +13,7 @@
		* See the License for the specific language governing permissions and
		* limitations under the License.
		*/
		#include <android-base/stringprintf.h>

		#include "media/Pose.h"
		#include "media/Twist.h"
		@@ -21,6 +22,7 @@
		namespace android {
		namespace media {

		using android::base::StringAppendF;
		using Eigen::Vector3f;

		std::optional<Pose3f> Pose3f::fromVector(const std::vector<float>& vec) {
		@@ -35,6 +37,19 @@ std::vector<float> Pose3f::toVector() const {
		return {mTranslation[0], mTranslation[1], mTranslation[2], rot[0], rot[1], rot[2]};
		}

		std::string Pose3f::toString() const {
		const auto& vec = this->toVector();
		std::string ss = "[";
		for (auto f = vec.begin(); f != vec.end(); ++f) {
		if (f != vec.begin()) {
		ss.append(", ");
		}
		StringAppendF(&ss, "%0.2f", *f);
		}
		ss.append("]");
		return ss;
		}

		std::tuple<Pose3f, bool> moveWithRateLimit(const Pose3f& from, const Pose3f& to, float t,
		float maxTranslationalVelocity,
		float maxRotationalVelocity) {