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Commit ddd1f3ae authored by Ytai Ben-Tsvi's avatar Ytai Ben-Tsvi Committed by Automerger Merge Worker
Browse files

Improve recentering logic am: b2a87e5d am: 47bf5efe 

Original change: https://googleplex-android-review.googlesource.com/c/platform/frameworks/av/+/15645198

Change-Id: Ia80f2b38cd2e9a36cb06d79f72cfda5132427332
parents 80e84050 47bf5efe

media/libheadtracking/HeadTrackingProcessor-test.cpp

+14 −0
Original line number Diff line number Diff line
@@ -48,6 +48,11 @@ TEST(HeadTrackingProcessor, BasicComposition) { 


    std::unique_ptr<HeadTrackingProcessor> processor =

            createHeadTrackingProcessor(Options{}, HeadTrackingMode::SCREEN_RELATIVE);



    // Establish a baseline for the drift compensators.

    processor->setWorldToHeadPose(0, Pose3f(), Twist3f());

    processor->setWorldToScreenPose(0, Pose3f());



    processor->setWorldToHeadPose(0, worldToHead, Twist3f());

    processor->setWorldToScreenPose(0, worldToScreen);

    processor->setScreenToStagePose(screenToStage);
@@ -76,6 +81,11 @@ TEST(HeadTrackingProcessor, Prediction) { 


    std::unique_ptr<HeadTrackingProcessor> processor = createHeadTrackingProcessor(

            Options{.predictionDuration = 2.f}, HeadTrackingMode::WORLD_RELATIVE);



    // Establish a baseline for the drift compensators.

    processor->setWorldToHeadPose(0, Pose3f(), Twist3f());

    processor->setWorldToScreenPose(0, Pose3f());



    processor->setWorldToHeadPose(0, worldToHead, headTwist);

    processor->setWorldToScreenPose(0, worldToScreen);

    processor->calculate(0);
@@ -100,6 +110,10 @@ TEST(HeadTrackingProcessor, SmoothModeSwitch) { 
    std::unique_ptr<HeadTrackingProcessor> processor = createHeadTrackingProcessor(

            Options{.maxTranslationalVelocity = 1}, HeadTrackingMode::STATIC);



    // Establish a baseline for the drift compensators.

    processor->setWorldToHeadPose(0, Pose3f(), Twist3f());

    processor->setWorldToScreenPose(0, Pose3f());



    processor->calculate(0);



    processor->setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);

media/libheadtracking/PoseDriftCompensator-test.cpp

+23 −9
Original line number Diff line number Diff line
@@ -39,17 +39,22 @@ TEST(PoseDriftCompensator, NoDrift) { 
    Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom());

    PoseDriftCompensator comp(Options{});



    // First pose sets the baseline.

    comp.setInput(1000, pose1);

    EXPECT_EQ(comp.getOutput(), pose1);

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



    comp.setInput(2000, pose2);

    EXPECT_EQ(comp.getOutput(), pose2);

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



    // Recentering resets the baseline.

    comp.recenter();

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



    comp.setInput(3000, pose1);

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

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



    comp.setInput(4000, pose2);

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

}



TEST(PoseDriftCompensator, NoDriftZeroTime) {
@@ -58,16 +63,19 @@ TEST(PoseDriftCompensator, NoDriftZeroTime) { 
    PoseDriftCompensator comp(Options{});



    comp.setInput(1000, pose1);

    EXPECT_EQ(comp.getOutput(), pose1);

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



    comp.setInput(1000, pose2);

    EXPECT_EQ(comp.getOutput(), pose2);

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



    comp.recenter();

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



    comp.setInput(1000, pose1);

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

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



    comp.setInput(1000, pose2);

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

}



TEST(PoseDriftCompensator, Asymptotic) {
@@ -92,16 +100,19 @@ TEST(PoseDriftCompensator, Fast) { 
            Options{.translationalDriftTimeConstant = 1e7, .rotationalDriftTimeConstant = 1e7});



    comp.setInput(0, pose1);

    EXPECT_EQ(comp.getOutput(), pose1);

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



    comp.setInput(1, pose2);

    EXPECT_EQ(comp.getOutput(), pose2);

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



    comp.recenter();

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



    comp.setInput(2, pose1);

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

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



    comp.setInput(3, pose2);

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

}



TEST(PoseDriftCompensator, Drift) {
@@ -109,6 +120,9 @@ TEST(PoseDriftCompensator, Drift) { 
    PoseDriftCompensator comp(

            Options{.translationalDriftTimeConstant = 500, .rotationalDriftTimeConstant = 1000});



    // Establish a baseline.

    comp.setInput(1000, Pose3f());



    // Initial pose is used as is.

    comp.setInput(1000, pose1);

    EXPECT_EQ(comp.getOutput(), pose1);

media/libheadtracking/PoseDriftCompensator.cpp

+3 −4
Original line number Diff line number Diff line
@@ -29,10 +29,8 @@ using Eigen::Vector3f; 
PoseDriftCompensator::PoseDriftCompensator(const Options& options) : mOptions(options) {}



void PoseDriftCompensator::setInput(int64_t timestamp, const Pose3f& input) {

    if (!mTimestamp.has_value()) {

        // First input sample sets the output directly.

        mOutput = input;

    } else {

    if (mTimestamp.has_value()) {

        // Avoid computation upon first input (only sets the initial state).

        Pose3f prevInputToInput = mPrevInput.inverse() * input;

        mOutput = scale(mOutput, timestamp - mTimestamp.value()) * prevInputToInput;

    }
@@ -41,6 +39,7 @@ void PoseDriftCompensator::setInput(int64_t timestamp, const Pose3f& input) { 
}



void PoseDriftCompensator::recenter() {

    mTimestamp.reset();

    mOutput = Pose3f();

}