commit c7e8a483c9bdd48dde327fcd0dd2c4b1d900a65c
author Ytai Ben-Tsvi <ytai@google.com> Mon Dec 20 13:26:34 2021 -0800
committer Ytai Ben-tsvi <ytai@google.com> Thu Dec 23 20:32:59 2021 +0000
tree 10b5d2348c968bfc15e37e6ef4a2020f978eca75
parent 44e7c3dbd402f5763d1657c6276f1a92b59f7666

Switch to static mode and recenter whenever screen moves

This logic intends to solve issues related to using head-tracking
while moving (e.g. being in a moving vehicle of walking).

We do so by switching to static mode and recentering whenever we
detect a significant motion of the screen.

Test: Manual verification via the SpatialAudioDemo app.
Test: atest --host libheadtracking-test
Change-Id: Iae5090c5a315d31ff89ada8d8a13694ea68ccf8e

media/libheadtracking/ModeSelector-test.cpp

diff --git a/media/libheadtracking/ModeSelector-test.cpp b/media/libheadtracking/ModeSelector-test.cpp
index 6247d84..a136e6b 100644
--- a/media/libheadtracking/ModeSelector-test.cpp
+++ b/media/libheadtracking/ModeSelector-test.cpp
@@ -44,6 +44,7 @@
     ModeSelector selector(options, HeadTrackingMode::WORLD_RELATIVE);
 
     selector.setWorldToHeadPose(0, worldToHead);
+    selector.setScreenStable(0, true);
     selector.calculate(0);
     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
     EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse());
@@ -69,14 +70,46 @@
     ModeSelector selector(options);
 
     selector.setScreenToStagePose(screenToStage);
-
     selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
     selector.setWorldToHeadPose(0, worldToHead);
+    selector.setScreenStable(0, true);
     selector.calculate(0);
     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
     EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
 }
 
+TEST(ModeSelector, WorldRelativeUnstable) {
+    const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
+    const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
+
+    ModeSelector::Options options{.freshnessTimeout = 100};
+    ModeSelector selector(options);
+
+    selector.setScreenToStagePose(screenToStage);
+    selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
+    selector.setWorldToHeadPose(0, worldToHead);
+    selector.setScreenStable(0, false);
+    selector.calculate(10);
+    EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
+    EXPECT_EQ(selector.getHeadToStagePose(), screenToStage);
+}
+
+TEST(ModeSelector, WorldRelativeStableStale) {
+    const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
+    const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
+
+    ModeSelector::Options options{.freshnessTimeout = 100};
+    ModeSelector selector(options);
+
+    selector.setScreenToStagePose(screenToStage);
+    selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
+    selector.setWorldToHeadPose(100, worldToHead);
+    selector.setScreenStable(0, true);
+    selector.calculate(101);
+    EXPECT_EQ(HeadTrackingMode::STATIC, selector.getActualMode());
+    EXPECT_EQ(selector.getHeadToStagePose(), screenToStage);
+}
+
 TEST(ModeSelector, WorldRelativeStale) {
     const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom());
     const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom());
@@ -85,7 +118,6 @@
     ModeSelector selector(options);
 
     selector.setScreenToStagePose(screenToStage);
-
     selector.setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);
     selector.setWorldToHeadPose(0, worldToHead);
     selector.calculate(101);
@@ -101,7 +133,6 @@
     ModeSelector selector(options);
 
     selector.setScreenToStagePose(screenToStage);
-
     selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
     selector.setScreenToHeadPose(0, screenToHead);
     selector.calculate(0);
@@ -118,10 +149,10 @@
     ModeSelector selector(options);
 
     selector.setScreenToStagePose(screenToStage);
-
     selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
     selector.setScreenToHeadPose(0, screenToHead);
     selector.setWorldToHeadPose(50, worldToHead);
+    selector.setScreenStable(50, true);
     selector.calculate(101);
     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
     EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);
@@ -139,6 +170,7 @@
     selector.setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);
     selector.setScreenToHeadPose(50, std::nullopt);
     selector.setWorldToHeadPose(50, worldToHead);
+    selector.setScreenStable(50, true);
     selector.calculate(101);
     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, selector.getActualMode());
     EXPECT_EQ(selector.getHeadToStagePose(), worldToHead.inverse() * screenToStage);