Spatial Audio: Log head tracking velocity in degrees / s
Head tracking velocity is given as the intrinsic axis * (dangle / dt).
We express this as degrees/s with d_pitch, d_roll, d_yaw.
Cleanup of the VectorRecorder index offset and add delimiters.
Test: adb shell dumpsys media.audio_policy
Bug: 270763710
Change-Id: I64a194a9b839567529c0359c2ebe3a78d89e7c61
diff --git a/services/audiopolicy/service/SpatializerPoseController.cpp b/services/audiopolicy/service/SpatializerPoseController.cpp
index 2ac2af7..032572e 100644
--- a/services/audiopolicy/service/SpatializerPoseController.cpp
+++ b/services/audiopolicy/service/SpatializerPoseController.cpp
@@ -290,22 +290,29 @@
const float delayMs = (elapsedRealtimeNano() - timestamp) * NANOS_TO_MILLIS; // CLOCK_BOOTTIME
if (sensor == mHeadSensor) {
- std::vector<float> pryxyzdt(8); // pitch, roll, yaw, rot_vel_x, rot_vel_y, rot_vel_z,
+ std::vector<float> pryprydt(8); // pitch, roll, yaw, d_pitch, d_roll, d_yaw,
// discontinuity, timestamp_delay
- media::quaternionToAngles(pose.rotation(), &pryxyzdt[0], &pryxyzdt[1], &pryxyzdt[2]);
+ media::quaternionToAngles(pose.rotation(), &pryprydt[0], &pryprydt[1], &pryprydt[2]);
if (twist) {
const auto rotationalVelocity = twist->rotationalVelocity();
- for (size_t i = 0; i < 3; ++i) {
- pryxyzdt[i + 3] = rotationalVelocity[i];
- }
+ // The rotational velocity is an intrinsic transform (i.e. based on the head
+ // coordinate system, not the world coordinate system). It is a 3 element vector:
+ // axis (d theta / dt).
+ //
+ // We leave rotational velocity relative to the head coordinate system,
+ // as the initial head tracking sensor's world frame is arbitrary.
+ media::quaternionToAngles(media::rotationVectorToQuaternion(rotationalVelocity),
+ &pryprydt[3], &pryprydt[4], &pryprydt[5]);
}
- pryxyzdt[6] = isNewReference;
- pryxyzdt[7] = delayMs;
- for (size_t i = 0; i < 3; ++i) { // pitch, roll, yaw only. rotational velocity in rad/s.
- pryxyzdt[i] *= RAD_TO_DEGREE;
+ pryprydt[6] = isNewReference;
+ pryprydt[7] = delayMs;
+ for (size_t i = 0; i < 6; ++i) {
+ // pitch, roll, yaw in degrees, referenced in degrees on the world frame.
+ // d_pitch, d_roll, d_yaw rotational velocity in degrees/s, based on the world frame.
+ pryprydt[i] *= RAD_TO_DEGREE;
}
- mHeadSensorRecorder.record(pryxyzdt);
- mHeadSensorDurableRecorder.record(pryxyzdt);
+ mHeadSensorRecorder.record(pryprydt);
+ mHeadSensorDurableRecorder.record(pryprydt);
mProcessor->setWorldToHeadPose(timestamp, pose,
twist.value_or(Twist3f()) / kTicksPerSecond);
@@ -346,15 +353,16 @@
if (mHeadSensor == INVALID_SENSOR) {
ss += "HeadSensor: INVALID\n";
} else {
- base::StringAppendF(&ss, "HeadSensor: 0x%08x (active world-to-head) "
- "[ pitch, roll, yaw, vx, vy, vz, disc, delay ] "
- "(degrees, rad/s, bool, ms)\n", mHeadSensor);
+ base::StringAppendF(&ss, "HeadSensor: 0x%08x "
+ "(active world-to-head : head-relative velocity) "
+ "[ pitch, roll, yaw : d_pitch, d_roll, d_yaw : disc : delay ] "
+ "(degrees, degrees/s, bool, ms)\n", mHeadSensor);
ss.append(prefixSpace)
.append(" PerMinuteHistory:\n")
- .append(mHeadSensorDurableRecorder.toString(level + 2))
+ .append(mHeadSensorDurableRecorder.toString(level + 3))
.append(prefixSpace)
.append(" PerSecondHistory:\n")
- .append(mHeadSensorRecorder.toString(level + 2));
+ .append(mHeadSensorRecorder.toString(level + 3));
}
ss += prefixSpace;
@@ -362,14 +370,14 @@
ss += "ScreenSensor: INVALID\n";
} else {
base::StringAppendF(&ss, "ScreenSensor: 0x%08x (active world-to-screen) "
- "[ pitch, roll, yaw, delay ] "
+ "[ pitch, roll, yaw : delay ] "
"(degrees, ms)\n", mScreenSensor);
ss.append(prefixSpace)
.append(" PerMinuteHistory:\n")
- .append(mScreenSensorDurableRecorder.toString(level + 2))
+ .append(mScreenSensorDurableRecorder.toString(level + 3))
.append(prefixSpace)
.append(" PerSecondHistory:\n")
- .append(mScreenSensorRecorder.toString(level + 2));
+ .append(mScreenSensorRecorder.toString(level + 3));
}
ss += prefixSpace;