Merge changes I58e1c380,I3aa1f225,Ifb73050e into sc-v2-dev
* changes:
Fix display orientation handling
Better support for head and screen sensors being the same one
Refine the recenter operation
diff --git a/media/libheadtracking/HeadTrackingProcessor-test.cpp b/media/libheadtracking/HeadTrackingProcessor-test.cpp
index 1739c6d..299192f 100644
--- a/media/libheadtracking/HeadTrackingProcessor-test.cpp
+++ b/media/libheadtracking/HeadTrackingProcessor-test.cpp
@@ -53,10 +53,10 @@
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 *
diff --git a/media/libheadtracking/HeadTrackingProcessor.cpp b/media/libheadtracking/HeadTrackingProcessor.cpp
index ee60fa5..47f7cf0 100644
--- a/media/libheadtracking/HeadTrackingProcessor.cpp
+++ b/media/libheadtracking/HeadTrackingProcessor.cpp
@@ -57,7 +57,14 @@
}
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 @@
}
void setDisplayOrientation(float physicalToLogicalAngle) override {
- if (mPhysicalToLogicalAngle != physicalToLogicalAngle) {
- mRateLimiter.enable();
- }
- mPhysicalToLogicalAngle = physicalToLogicalAngle;
+ mPendingPhysicalToLogicalAngle = physicalToLogicalAngle;
}
void calculate(int64_t timestamp) override {
@@ -80,8 +84,7 @@
}
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 @@
HeadTrackingMode getActualMode() const override { return mModeSelector.getActualMode(); }
- void recenter() override {
- mHeadPoseDriftCompensator.recenter();
- mScreenPoseDriftCompensator.recenter();
- mRateLimiter.enable();
+ 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;
diff --git a/media/libheadtracking/PoseProcessingGraph.png b/media/libheadtracking/PoseProcessingGraph.png
index 8e6dfd2..0363068 100644
--- a/media/libheadtracking/PoseProcessingGraph.png
+++ b/media/libheadtracking/PoseProcessingGraph.png
Binary files differ
diff --git a/media/libheadtracking/include/media/HeadTrackingProcessor.h b/media/libheadtracking/include/media/HeadTrackingProcessor.h
index 23de540..9fea273 100644
--- a/media/libheadtracking/include/media/HeadTrackingProcessor.h
+++ b/media/libheadtracking/include/media/HeadTrackingProcessor.h
@@ -89,9 +89,9 @@
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;
};
/**
diff --git a/media/libheadtracking/include/media/SensorPoseProvider.h b/media/libheadtracking/include/media/SensorPoseProvider.h
index 7b79704..3e9c107 100644
--- a/media/libheadtracking/include/media/SensorPoseProvider.h
+++ b/media/libheadtracking/include/media/SensorPoseProvider.h
@@ -77,11 +77,13 @@
/**
* 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;
diff --git a/services/audiopolicy/service/SpatializerPoseController.cpp b/services/audiopolicy/service/SpatializerPoseController.cpp
index f0d7f7c..3d79c9d 100644
--- a/services/audiopolicy/service/SpatializerPoseController.cpp
+++ b/services/audiopolicy/service/SpatializerPoseController.cpp
@@ -117,26 +117,46 @@
void SpatializerPoseController::setHeadSensor(const ASensor* sensor) {
std::lock_guard lock(mMutex);
- // Stop current sensor, if valid.
- if (mHeadSensor != SensorPoseProvider::INVALID_HANDLE) {
+ // Stop current sensor, if valid and different from the other sensor.
+ if (mHeadSensor != SensorPoseProvider::INVALID_HANDLE && mHeadSensor != mScreenSensor) {
mPoseProvider->stopSensor(mHeadSensor);
}
- // Start new sensor, if valid.
- mHeadSensor = sensor != nullptr ? mPoseProvider->startSensor(sensor, mSensorPeriod)
- : SensorPoseProvider::INVALID_HANDLE;
- mProcessor->recenter();
+
+ if (sensor != nullptr) {
+ if (ASensor_getHandle(sensor) != mScreenSensor) {
+ // Start new sensor.
+ mHeadSensor = mPoseProvider->startSensor(sensor, mSensorPeriod);
+ } else {
+ // Sensor is already enabled.
+ mHeadSensor = mScreenSensor;
+ }
+ } else {
+ mHeadSensor = SensorPoseProvider::INVALID_HANDLE;
+ }
+
+ mProcessor->recenter(true, false);
}
void SpatializerPoseController::setScreenSensor(const ASensor* sensor) {
std::lock_guard lock(mMutex);
- // Stop current sensor, if valid.
- if (mScreenSensor != SensorPoseProvider::INVALID_HANDLE) {
+ // Stop current sensor, if valid and different from the other sensor.
+ if (mScreenSensor != SensorPoseProvider::INVALID_HANDLE && mScreenSensor != mHeadSensor) {
mPoseProvider->stopSensor(mScreenSensor);
}
- // Start new sensor, if valid.
- mScreenSensor = sensor != nullptr ? mPoseProvider->startSensor(sensor, mSensorPeriod)
- : SensorPoseProvider::INVALID_HANDLE;
- mProcessor->recenter();
+
+ if (sensor != nullptr) {
+ if (ASensor_getHandle(sensor) != mHeadSensor) {
+ // Start new sensor.
+ mScreenSensor = mPoseProvider->startSensor(sensor, mSensorPeriod);
+ } else {
+ // Sensor is already enabled.
+ mScreenSensor = mHeadSensor;
+ }
+ } else {
+ mScreenSensor = SensorPoseProvider::INVALID_HANDLE;
+ }
+
+ mProcessor->recenter(false, true);
}
void SpatializerPoseController::setDesiredMode(HeadTrackingMode mode) {
@@ -188,7 +208,8 @@
std::lock_guard lock(mMutex);
if (sensor == mHeadSensor) {
mProcessor->setWorldToHeadPose(timestamp, pose, twist.value_or(Twist3f()));
- } else if (sensor == mScreenSensor) {
+ }
+ if (sensor == mScreenSensor) {
mProcessor->setWorldToScreenPose(timestamp, pose);
}
}
