Remove drift compensator
Drift compensation is better done by the actual sensor, as it has the
knowledge of the best method to do so. For example, some sensors don't
suffer from drift at all.
This change replaces the drift compensation with a much simpler module
which only takes care of biasing (for recentering purposes).
Test: atest --host libheadtracking-test
Test: Manual verification of spatial audio with head-tracking.
Change-Id: I50ad8f53a6d7016bb8f75772702b35634adbc413
diff --git a/media/libheadtracking/PoseBias-test.cpp b/media/libheadtracking/PoseBias-test.cpp
new file mode 100644
index 0000000..9f42a2c
--- /dev/null
+++ b/media/libheadtracking/PoseBias-test.cpp
@@ -0,0 +1,52 @@
+/*
+ * 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