Spatializer: Tuning for least squares prediction
Made the prediction verifier more extensible for testing.
Allow audio.spatializer.prediction_duration_ms == 0
for testing.
Test: adb shell dumpsys media.audio_policy
Bug: 274847421
Change-Id: I1ffd9510a29bcca6c043c7e282f7d1fa1e3ed4ce
diff --git a/media/libheadtracking/PosePredictor.cpp b/media/libheadtracking/PosePredictor.cpp
index f67a966..5209d54 100644
--- a/media/libheadtracking/PosePredictor.cpp
+++ b/media/libheadtracking/PosePredictor.cpp
@@ -91,20 +91,23 @@
// Formatting
static inline std::vector<size_t> createDelimiterIdx(size_t predictors, size_t lookaheads) {
- if (predictors == 0) return {};
- --predictors;
- std::vector<size_t> delimiterIdx(predictors);
- for (size_t i = 0; i < predictors; ++i) {
- delimiterIdx[i] = (i + 1) * lookaheads;
+ if (lookaheads == 0) return {};
+ --lookaheads;
+ std::vector<size_t> delimiterIdx(lookaheads);
+ for (size_t i = 0; i < lookaheads; ++i) {
+ delimiterIdx[i] = (i + 1) * predictors;
}
return delimiterIdx;
}
PosePredictor::PosePredictor()
- : mPredictors{ // must match switch in getCurrentPredictor()
+ : mPredictors{
+ // First predictors must match switch in getCurrentPredictor()
std::make_shared<LastPredictor>(),
std::make_shared<TwistPredictor>(),
std::make_shared<LeastSquaresPredictor>(),
+ // After this, can place additional predictors here for comparison such as
+ // std::make_shared<LeastSquaresPredictor>(0.25),
}
, mLookaheadMs(kLookAheadMs.begin(), kLookAheadMs.end())
, mVerifiers(std::size(mLookaheadMs) * std::size(mPredictors))
@@ -195,7 +198,12 @@
if constexpr (kEnableVerification) {
// dump verification
ss.append(prefixSpace)
- .append(" Prediction abs error (L1) degrees [ type (last twist least-squares) x ( ");
+ .append(" Prediction abs error (L1) degrees [ type (");
+ for (size_t i = 0; i < mPredictors.size(); ++i) {
+ if (i > 0) ss.append(" , ");
+ ss.append(mPredictors[i]->name());
+ }
+ ss.append(" ) x ( ");
for (size_t i = 0; i < mLookaheadMs.size(); ++i) {
if (i > 0) ss.append(" : ");
ss.append(std::to_string(mLookaheadMs[i]));
diff --git a/media/libheadtracking/PosePredictor.h b/media/libheadtracking/PosePredictor.h
index 06983cc..53211e3 100644
--- a/media/libheadtracking/PosePredictor.h
+++ b/media/libheadtracking/PosePredictor.h
@@ -32,6 +32,7 @@
virtual void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) = 0;
virtual Pose3f predict(int64_t atNs) const = 0;
virtual void reset() = 0;
+ virtual std::string name() const = 0;
virtual std::string toString(size_t index) const = 0;
};
@@ -57,6 +58,10 @@
mLastPose = {};
}
+ std::string name() const override {
+ return "LAST";
+ }
+
std::string toString(size_t index) const override {
std::string s(index, ' ');
s.append("LastPredictor using last pose: ")
@@ -92,6 +97,10 @@
mLastTwist = {};
}
+ std::string name() const override {
+ return "TWIST";
+ }
+
std::string toString(size_t index) const override {
std::string s(index, ' ');
s.append("TwistPredictor using last pose: ")
@@ -130,13 +139,16 @@
void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) override;
Pose3f predict(int64_t atNs) const override;
void reset() override;
+ std::string name() const override {
+ return "LEAST_SQUARES(" + std::to_string(mAlpha) + ")";
+ }
std::string toString(size_t index) const override;
private:
const double mAlpha;
int64_t mLastAtNs{};
Pose3f mLastPose;
- static constexpr double kDefaultAlphaEstimator = 0.5;
+ static constexpr double kDefaultAlphaEstimator = 0.2;
static constexpr size_t kMinimumSamplesForPrediction = 4;
audio_utils::LinearLeastSquaresFit<double> mRw;
audio_utils::LinearLeastSquaresFit<double> mRx;
diff --git a/services/audiopolicy/service/SpatializerPoseController.cpp b/services/audiopolicy/service/SpatializerPoseController.cpp
index d325509..874bde4 100644
--- a/services/audiopolicy/service/SpatializerPoseController.cpp
+++ b/services/audiopolicy/service/SpatializerPoseController.cpp
@@ -108,8 +108,8 @@
.freshnessTimeout = Ticks(kFreshnessTimeout).count(),
.predictionDuration = []() -> float {
const int duration_ms =
- property_get_int32("audio.spatializer.prediction_duration_ms", 0);
- if (duration_ms > 0) {
+ property_get_int32("audio.spatializer.prediction_duration_ms", -1);
+ if (duration_ms >= 0) {
return duration_ms * 1'000'000LL;
} else {
return Ticks(kPredictionDuration).count();