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Commit ba8f50eb authored by Ytai Ben-tsvi's avatar Ytai Ben-tsvi Committed by Android (Google) Code Review
Browse files

Merge changes I7dda8dd1,I50ad8f53 

* changes:
  Small fix of parsing head tracker sensors
  Remove drift compensator
parents 0fe05c41 27bbea37

media/libheadtracking/Android.bp

+2 −0
Original line number Diff line number Diff line
@@ -14,6 +14,7 @@ cc_library { 
      "HeadTrackingProcessor.cpp",

      "ModeSelector.cpp",

      "Pose.cpp",

      "PoseBias.cpp",

      "PoseDriftCompensator.cpp",

      "PoseRateLimiter.cpp",

      "QuaternionUtil.cpp",
@@ -67,6 +68,7 @@ cc_test_host { 
        "HeadTrackingProcessor-test.cpp",

        "ModeSelector-test.cpp",

        "Pose-test.cpp",

        "PoseBias-test.cpp",

        "PoseDriftCompensator-test.cpp",

        "PoseRateLimiter-test.cpp",

        "QuaternionUtil-test.cpp",

media/libheadtracking/HeadTrackingProcessor.cpp

+10 −18
Original line number Diff line number Diff line
@@ -17,7 +17,7 @@ 
#include "media/HeadTrackingProcessor.h"



#include "ModeSelector.h"

#include "PoseDriftCompensator.h"

#include "PoseBias.h"

#include "QuaternionUtil.h"

#include "ScreenHeadFusion.h"

#include "StillnessDetector.h"
@@ -33,14 +33,6 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
  public:

    HeadTrackingProcessorImpl(const Options& options, HeadTrackingMode initialMode)

        : mOptions(options),

          mHeadPoseDriftCompensator(PoseDriftCompensator::Options{

                  .translationalDriftTimeConstant = options.translationalDriftTimeConstant,

                  .rotationalDriftTimeConstant = options.rotationalDriftTimeConstant,

          }),

          mScreenPoseDriftCompensator(PoseDriftCompensator::Options{

                  .translationalDriftTimeConstant = options.translationalDriftTimeConstant,

                  .rotationalDriftTimeConstant = options.rotationalDriftTimeConstant,

          }),

          mHeadStillnessDetector(StillnessDetector::Options{

                  .defaultValue = false,

                  .windowDuration = options.autoRecenterWindowDuration,
@@ -65,7 +57,7 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
                            const Twist3f& headTwist) override {

        Pose3f predictedWorldToHead =

                worldToHead * integrate(headTwist, mOptions.predictionDuration);

        mHeadPoseDriftCompensator.setInput(timestamp, predictedWorldToHead);

        mHeadPoseBias.setInput(predictedWorldToHead);

        mHeadStillnessDetector.setInput(timestamp, predictedWorldToHead);

        mWorldToHeadTimestamp = timestamp;

    }
@@ -78,7 +70,7 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
        }



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

        mScreenPoseDriftCompensator.setInput(timestamp, worldToLogicalScreen);

        mScreenPoseBias.setInput(worldToLogicalScreen);

        mScreenStillnessDetector.setInput(timestamp, worldToLogicalScreen);

        mWorldToScreenTimestamp = timestamp;

    }
@@ -94,7 +86,7 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
    void calculate(int64_t timestamp) override {

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

        if (mWorldToScreenTimestamp.has_value()) {

            const Pose3f worldToLogicalScreen = mScreenPoseDriftCompensator.getOutput();

            const Pose3f worldToLogicalScreen = mScreenPoseBias.getOutput();

            bool screenStable = mScreenStillnessDetector.calculate(timestamp);

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

            // Whenever the screen is unstable, recenter the head pose.
@@ -107,11 +99,11 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 


        // Handle head.

        if (mWorldToHeadTimestamp.has_value()) {

            Pose3f worldToHead = mHeadPoseDriftCompensator.getOutput();

            Pose3f worldToHead = mHeadPoseBias.getOutput();

            // Auto-recenter.

            if (mHeadStillnessDetector.calculate(timestamp)) {

                recenter(true, false);

                worldToHead = mHeadPoseDriftCompensator.getOutput();

                worldToHead = mHeadPoseBias.getOutput();

            }



            mScreenHeadFusion.setWorldToHeadPose(mWorldToHeadTimestamp.value(), worldToHead);
@@ -142,11 +134,11 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 


    void recenter(bool recenterHead, bool recenterScreen) override {

        if (recenterHead) {

            mHeadPoseDriftCompensator.recenter();

            mHeadPoseBias.recenter();

            mHeadStillnessDetector.reset();

        }

        if (recenterScreen) {

            mScreenPoseDriftCompensator.recenter();

            mScreenPoseBias.recenter();

            mScreenStillnessDetector.reset();

        }
@@ -169,8 +161,8 @@ class HeadTrackingProcessorImpl : public HeadTrackingProcessor { 
    std::optional<int64_t> mWorldToHeadTimestamp;

    std::optional<int64_t> mWorldToScreenTimestamp;

    Pose3f mHeadToStagePose;

    PoseDriftCompensator mHeadPoseDriftCompensator;

    PoseDriftCompensator mScreenPoseDriftCompensator;

    PoseBias mHeadPoseBias;

    PoseBias mScreenPoseBias;

    StillnessDetector mHeadStillnessDetector;

    StillnessDetector mScreenStillnessDetector;

    ScreenHeadFusion mScreenHeadFusion;

media/libheadtracking/PoseBias-test.cpp

0 → 100644
+52 −0
Original line number Diff line number Diff line 
/*

 * Copyright (C) 2022 The Android Open Source Project

 *

 * Licensed under the Apache License, Version 2.0 (the "License");

 * you may not use this file except in compliance with the License.

 * You may obtain a copy of the License at

 *

 *      http://www.apache.org/licenses/LICENSE-2.0

 *

 * Unless required by applicable law or agreed to in writing, software

 * distributed under the License is distributed on an "AS IS" BASIS,

 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

 * See the License for the specific language governing permissions and

 * limitations under the License.

 */



#include <gtest/gtest.h>



#include "PoseBias.h"

#include "QuaternionUtil.h"

#include "TestUtil.h"



namespace android {

namespace media {

namespace {



using Eigen::Quaternionf;

using Eigen::Vector3f;



TEST(PoseBias, Initial) {

    PoseBias bias;

    EXPECT_EQ(bias.getOutput(), Pose3f());

}



TEST(PoseBias, Basic) {

    Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom());

    Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom());



    PoseBias bias;

    bias.setInput(pose1);

    EXPECT_EQ(pose1, bias.getOutput());

    bias.recenter();

    EXPECT_EQ(bias.getOutput(), Pose3f());

    bias.setInput(pose2);

    EXPECT_EQ(bias.getOutput(), pose1.inverse() * pose2);

    bias.recenter();

    EXPECT_EQ(bias.getOutput(), Pose3f());

}



}  // namespace

}  // namespace media

}  // namespace android

media/libheadtracking/PoseBias.cpp

0 → 100644
+35 −0
Original line number Diff line number Diff line 
/*

 * Copyright (C) 2022 The Android Open Source Project

 *

 * Licensed under the Apache License, Version 2.0 (the "License"){}

 * you may not use this file except in compliance with the License.

 * You may obtain a copy of the License at

 *

 *      http://www.apache.org/licenses/LICENSE-2.0

 *

 * Unless required by applicable law or agreed to in writing, software

 * distributed under the License is distributed on an "AS IS" BASIS,

 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

 * See the License for the specific language governing permissions and

 * limitations under the License.

 */



#include "PoseBias.h"



namespace android {

namespace media {



void PoseBias::setInput(const Pose3f& input) {

    mLastWorldToInput = input;

}



void PoseBias::recenter() {

    mBiasToWorld = mLastWorldToInput.inverse();

}



Pose3f PoseBias::getOutput() const {

    return mBiasToWorld * mLastWorldToInput;

}



}  // namespace media

}  // namespace android

media/libheadtracking/PoseBias.h

0 → 100644
+60 −0
Original line number Diff line number Diff line 
/*

 * Copyright (C) 2022 The Android Open Source Project

 *

 * Licensed under the Apache License, Version 2.0 (the "License");

 * you may not use this file except in compliance with the License.

 * You may obtain a copy of the License at

 *

 *      http://www.apache.org/licenses/LICENSE-2.0

 *

 * Unless required by applicable law or agreed to in writing, software

 * distributed under the License is distributed on an "AS IS" BASIS,

 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

 * See the License for the specific language governing permissions and

 * limitations under the License.

 */

#pragma once



#include "media/Pose.h"



namespace android {

namespace media {



/**

 * Biasing for a stream of poses.

 *

 * This filter takes a stream of poses and at any time during the stream, can change the frame of

 * reference for the stream to be that of the last pose received, via the recenter() operation.

 *

 * Typical usage:

 * PoseBias bias;

 *

 * bias.setInput(...);

 * output = bias.getOutput();

 * bias.setInput(...);

 * output = bias.getOutput();

 * bias.setInput(...);

 * output = bias.getOutput();

 * bias.recenter();  // Reference frame is now equal to the last input.

 * output = bias.getOutput();  // This is now the identity pose.

 *

 * There doesn't need to be a 1:1 correspondence between setInput() and getOutput() calls.

 * The initial bias point is identity.

 *

 * This implementation is thread-compatible, but not thread-safe.

 */

class PoseBias {

  public:

    void setInput(const Pose3f& input);



    void recenter();



    Pose3f getOutput() const;



  private:

    Pose3f mLastWorldToInput;

    Pose3f mBiasToWorld;

};



}  // namespace media

}  // namespace android