Tune stillness detector for more responsive headtracking
Bug: 243821894
Test: manual - validated through listening tests
Change-Id: I2b07ac16e790d03b05f2ba0912d92901598d2bd5
diff --git a/media/libheadtracking/HeadTrackingProcessor.cpp b/media/libheadtracking/HeadTrackingProcessor.cpp
index fb44567..ccb75af 100644
--- a/media/libheadtracking/HeadTrackingProcessor.cpp
+++ b/media/libheadtracking/HeadTrackingProcessor.cpp
@@ -88,10 +88,12 @@
}
void calculate(int64_t timestamp) override {
- // Handle the screen first, since it might trigger a recentering of the head.
+ bool screenStable = true;
+
+ // Handle the screen first, since it might: trigger a recentering of the head.
if (mWorldToScreenTimestamp.has_value()) {
const Pose3f worldToLogicalScreen = mScreenPoseBias.getOutput();
- bool screenStable = mScreenStillnessDetector.calculate(timestamp);
+ screenStable = mScreenStillnessDetector.calculate(timestamp);
mModeSelector.setScreenStable(mWorldToScreenTimestamp.value(), screenStable);
// Whenever the screen is unstable, recenter the head pose.
if (!screenStable) {
@@ -105,7 +107,8 @@
if (mWorldToHeadTimestamp.has_value()) {
Pose3f worldToHead = mHeadPoseBias.getOutput();
// Auto-recenter.
- if (mHeadStillnessDetector.calculate(timestamp)) {
+ bool headStable = mHeadStillnessDetector.calculate(timestamp);
+ if (headStable || !screenStable) {
recenter(true, false);
worldToHead = mHeadPoseBias.getOutput();
}
diff --git a/media/libheadtracking/StillnessDetector.cpp b/media/libheadtracking/StillnessDetector.cpp
index be7c893..5232084 100644
--- a/media/libheadtracking/StillnessDetector.cpp
+++ b/media/libheadtracking/StillnessDetector.cpp
@@ -26,6 +26,9 @@
mFifo.clear();
mWindowFull = false;
mSuppressionDeadline.reset();
+ // A "true" state indicates stillness is detected (default = true)
+ mCurrentState = true;
+ mPreviousState = true;
}
void StillnessDetector::setInput(int64_t timestamp, const Pose3f& input) {
@@ -33,7 +36,15 @@
discardOld(timestamp);
}
+bool StillnessDetector::getPreviousState() const {
+ return mPreviousState;
+}
+
bool StillnessDetector::calculate(int64_t timestamp) {
+ // Move the current stillness state to the previous state.
+ // This allows us to detect transitions into and out of stillness.
+ mPreviousState = mCurrentState;
+
discardOld(timestamp);
// Check whether all the poses in the queue are in the proximity of the new one. We want to do
@@ -60,15 +71,17 @@
// If the window has not been full, return the default value.
if (!mWindowFull) {
- return mOptions.defaultValue;
+ mCurrentState = mOptions.defaultValue;
}
-
// Force "in motion" while the suppression deadline is active.
- if (mSuppressionDeadline.has_value()) {
- return false;
+ else if (mSuppressionDeadline.has_value()) {
+ mCurrentState = false;
+ }
+ else {
+ mCurrentState = !moved;
}
- return !moved;
+ return mCurrentState;
}
void StillnessDetector::discardOld(int64_t timestamp) {
diff --git a/media/libheadtracking/StillnessDetector.h b/media/libheadtracking/StillnessDetector.h
index ee4b2d8..abd7cc4 100644
--- a/media/libheadtracking/StillnessDetector.h
+++ b/media/libheadtracking/StillnessDetector.h
@@ -80,7 +80,8 @@
void setInput(int64_t timestamp, const Pose3f& input);
/** Calculate whether the stream is still at the given timestamp. */
bool calculate(int64_t timestamp);
-
+ /** Return the stillness state from the previous call to calculate() */
+ bool getPreviousState() const;
private:
struct TimestampedPose {
int64_t timestamp;
@@ -92,6 +93,8 @@
const float mCosHalfRotationalThreshold;
std::deque<TimestampedPose> mFifo;
bool mWindowFull = false;
+ bool mCurrentState = true;
+ bool mPreviousState = true;
// As soon as motion is detected, this will be set for the time of detection + window duration,
// and during this time we will always consider outselves in motion without checking. This is
// used for hyteresis purposes, since because of the approximate method we use for determining
diff --git a/services/audiopolicy/service/SpatializerPoseController.cpp b/services/audiopolicy/service/SpatializerPoseController.cpp
index e012a0b..97ddd4e 100644
--- a/services/audiopolicy/service/SpatializerPoseController.cpp
+++ b/services/audiopolicy/service/SpatializerPoseController.cpp
@@ -65,13 +65,13 @@
// Screen is considered to be unstable (not still) if it has moved significantly within the last
// time window of this duration.
-constexpr auto kScreenStillnessWindowDuration = 3s;
+constexpr auto kScreenStillnessWindowDuration = 750ms;
// Screen is considered to have moved significantly if translated by this much (in meter, approx).
constexpr float kScreenStillnessTranslationThreshold = 0.1f;
// Screen is considered to have moved significantly if rotated by this much (in radians, approx).
-constexpr float kScreenStillnessRotationThreshold = 7.0f / 180 * M_PI;
+constexpr float kScreenStillnessRotationThreshold = 15.0f / 180 * M_PI;
// Time units for system clock ticks. This is what the Sensor Framework timestamps represent and
// what we use for pose filtering.