Snap for 7721244 from 48e5af7adf5559074564bd9280877571c747b520 to sc-v2-release (a2ee559b) · Commits · e / os / android_frameworks_av

media/libheadtracking/HeadTrackingProcessor-test.cpp

+1 −1

Original line number	Diff line number	Diff line
		@@ -53,10 +53,10 @@ TEST(HeadTrackingProcessor, BasicComposition) {
		processor->setWorldToHeadPose(0, Pose3f(), Twist3f());
		processor->setWorldToScreenPose(0, Pose3f());

		processor->setDisplayOrientation(physicalToLogical);
		processor->setWorldToHeadPose(0, worldToHead, Twist3f());
		processor->setWorldToScreenPose(0, worldToScreen);
		processor->setScreenToStagePose(screenToStage);
		processor->setDisplayOrientation(physicalToLogical);
		processor->calculate(0);
		ASSERT_EQ(processor->getActualMode(), HeadTrackingMode::SCREEN_RELATIVE);
		EXPECT_EQ(processor->getHeadToStagePose(), worldToHead.inverse() * worldToScreen *

media/libheadtracking/HeadTrackingProcessor.cpp

+29 −11

Original line number	Diff line number	Diff line
		@@ -57,7 +57,14 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor {
		}

		void setWorldToScreenPose(int64_t timestamp, const Pose3f& worldToScreen) override {
		mScreenPoseDriftCompensator.setInput(timestamp, worldToScreen);
		if (mPhysicalToLogicalAngle != mPendingPhysicalToLogicalAngle) {
		// We're introducing an artificial discontinuity. Enable the rate limiter.
		mRateLimiter.enable();
		mPhysicalToLogicalAngle = mPendingPhysicalToLogicalAngle;
		}

		mScreenPoseDriftCompensator.setInput(
		timestamp, worldToScreen * Pose3f(rotateY(-mPhysicalToLogicalAngle)));
		mWorldToScreenTimestamp = timestamp;
		}

		@@ -66,10 +73,7 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor {
		}

		void setDisplayOrientation(float physicalToLogicalAngle) override {
		if (mPhysicalToLogicalAngle != physicalToLogicalAngle) {
		mRateLimiter.enable();
		}
		mPhysicalToLogicalAngle = physicalToLogicalAngle;
		mPendingPhysicalToLogicalAngle = physicalToLogicalAngle;
		}

		void calculate(int64_t timestamp) override {
		@@ -80,8 +84,7 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor {
		}

		if (mWorldToScreenTimestamp.has_value()) {
		const Pose3f worldToLogicalScreen = mScreenPoseDriftCompensator.getOutput() *
		Pose3f(rotateY(-mPhysicalToLogicalAngle));
		const Pose3f worldToLogicalScreen = mScreenPoseDriftCompensator.getOutput();
		mScreenHeadFusion.setWorldToScreenPose(mWorldToScreenTimestamp.value(),
		worldToLogicalScreen);
		}
		@@ -108,15 +111,30 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor {

		HeadTrackingMode getActualMode() const override { return mModeSelector.getActualMode(); }

		void recenter() override {
		void recenter(bool recenterHead, bool recenterScreen) override {
		if (recenterHead) {
		mHeadPoseDriftCompensator.recenter();
		}
		if (recenterScreen) {
		mScreenPoseDriftCompensator.recenter();
		}

		// If a sensor being recentered is included in the current mode, apply rate limiting to
		// avoid discontinuities.
		HeadTrackingMode mode = mModeSelector.getActualMode();
		if ((recenterHead && (mode == HeadTrackingMode::WORLD_RELATIVE \|\|
		mode == HeadTrackingMode::SCREEN_RELATIVE)) \|\|
		(recenterScreen && mode == HeadTrackingMode::SCREEN_RELATIVE)) {
		mRateLimiter.enable();
		}
		}

		private:
		const Options mOptions;
		float mPhysicalToLogicalAngle = 0;
		// We store the physical to logical angle as "pending" until the next world-to-screen sample it
		// applies to arrives.
		float mPendingPhysicalToLogicalAngle = 0;
		std::optional<int64_t> mWorldToHeadTimestamp;
		std::optional<int64_t> mWorldToScreenTimestamp;
		Pose3f mHeadToStagePose;

media/libheadtracking/PoseProcessingGraph.png

−122 B (38.9 KiB)

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media/libheadtracking/include/media/HeadTrackingProcessor.h

+2 −2

Original line number	Diff line number	Diff line
		@@ -89,9 +89,9 @@ class HeadTrackingProcessor {
		virtual HeadTrackingMode getActualMode() const = 0;

		/**
		* This causes the current poses for both the head and screen to be considered "center".
		* This causes the current poses for both the head and/or screen to be considered "center".
		*/
		virtual void recenter() = 0;
		virtual void recenter(bool recenterHead = true, bool recenterScreen = true) = 0;
		};

		/**

media/libheadtracking/include/media/SensorPoseProvider.h

+4 −2

Original line number	Diff line number	Diff line
		@@ -77,11 +77,13 @@ class SensorPoseProvider {

		/**
		* Start receiving pose updates from a given sensor.
		* Attempting to start a sensor that has already been started results in undefined behavior.
		* @param sensor The sensor to subscribe to.
		* @param samplingPeriod Sampling interval, in microseconds. Actual rate might be slightly
		* different.
		* @return A handle, which can be later used for stopSensor(). INVALID_HANDLE would be returned
		* in case of error.
		* @return The sensor handle, which can be later used for stopSensor(). INVALID_HANDLE would be
		* returned in case of error. This is guaranteed to be the same handle as the one returned by
		* ASensor_getHandle(sensor).
		*/
		virtual int32_t startSensor(const ASensor* sensor,
		std::chrono::microseconds samplingPeriod) = 0;