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Searched refs:Pose3f (Results 1 – 25 of 39) sorted by relevance

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/frameworks/av/media/libheadtracking/include/media/
DPose.h33 class Pose3f {
38 Pose3f(const Eigen::Vector3f& translation, const Eigen::Quaternionf& rotation) in Pose3f() function
41 explicit Pose3f(const Eigen::Vector3f& translation) in Pose3f() function
42 : Pose3f(translation, Eigen::Quaternionf::Identity()) {} in Pose3f()
44 explicit Pose3f(const Eigen::Quaternionf& rotation) in Pose3f() function
45 : Pose3f(Eigen::Vector3f::Zero(), rotation) {} in Pose3f()
47 Pose3f() : Pose3f(Eigen::Vector3f::Zero(), Eigen::Quaternionf::Identity()) {} in Pose3f() function
49 Pose3f(const Pose3f& other) { *this = other; } in Pose3f() function
58 static std::optional<Pose3f> fromVector(const std::vector<float>& vec);
70 Pose3f& operator=(const Pose3f& other) {
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DHeadTrackingProcessor.h59 virtual void setWorldToHeadPose(int64_t timestamp, const Pose3f& worldToHead,
65 virtual void setWorldToScreenPose(int64_t timestamp, const Pose3f& worldToScreen) = 0;
70 virtual void setScreenToStagePose(const Pose3f& screenToStage) = 0;
88 virtual Pose3f getHeadToStagePose() const = 0;
/frameworks/av/media/libheadtracking/
DPose-test.cpp24 using android::media::Pose3f;
33 Pose3f pose; in TEST()
40 Pose3f pose(rot); in TEST()
47 Pose3f pose(trans); in TEST()
55 Pose3f pose(trans, rot); in TEST()
61 Pose3f pose({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
62 EXPECT_EQ(pose.inverse() * pose, Pose3f()); in TEST()
63 EXPECT_EQ(pose * pose.inverse(), Pose3f()); in TEST()
69 EXPECT_EQ(Pose3f({1, 2, 3}, rotationVectorToQuaternion({4, 5, 6})), in TEST()
70 Pose3f({1 + eps, 2 + eps, 3 + eps}, in TEST()
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DPoseDriftCompensator-test.cpp35 EXPECT_EQ(comp.getOutput(), Pose3f()); in TEST()
39 Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
40 Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom()); in TEST()
45 EXPECT_EQ(comp.getOutput(), Pose3f()); in TEST()
52 EXPECT_EQ(comp.getOutput(), Pose3f()); in TEST()
55 EXPECT_EQ(comp.getOutput(), Pose3f()); in TEST()
62 Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
63 Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom()); in TEST()
67 EXPECT_EQ(comp.getOutput(), Pose3f()); in TEST()
73 EXPECT_EQ(comp.getOutput(), Pose3f()); in TEST()
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DHeadTrackingProcessor-test.cpp39 EXPECT_EQ(processor->getHeadToStagePose(), Pose3f()); in TEST()
44 const Pose3f worldToHead{{1, 2, 3}, Quaternionf::UnitRandom()}; in TEST()
45 const Pose3f worldToScreen{{4, 5, 6}, Quaternionf::UnitRandom()}; in TEST()
46 const Pose3f screenToStage{{7, 8, 9}, Quaternionf::UnitRandom()}; in TEST()
53 processor->setWorldToHeadPose(0, Pose3f(), Twist3f()); in TEST()
54 processor->setWorldToScreenPose(0, Pose3f()); in TEST()
63 Pose3f(rotateY(-physicalToLogical)) * in TEST()
78 const Pose3f worldToHead{{1, 2, 3}, Quaternionf::UnitRandom()}; in TEST()
80 const Pose3f worldToScreen{{4, 5, 6}, Quaternionf::UnitRandom()}; in TEST()
88 processor->setWorldToHeadPose(0, Pose3f(), Twist3f()); in TEST()
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DStillnessDetector-test.cpp46 const Pose3f baseline(Vector3f{1, 2, 3}, Quaternionf::UnitRandom()); in TEST_P()
47 const Pose3f withinThreshold = in TEST_P()
48 baseline * Pose3f(Vector3f(0.3, -0.3, 0), rotateX(0.01) * rotateY(-0.01)); in TEST_P()
75 const Pose3f baseline(Vector3f{1, 2, 3}, Quaternionf::UnitRandom()); in TEST_P()
76 const Pose3f withinThreshold = in TEST_P()
77 baseline * Pose3f(Vector3f(0.3, -0.3, 0), rotateX(0.01) * rotateY(-0.01)); in TEST_P()
78 const Pose3f outsideThreshold = baseline * Pose3f(Vector3f(1, 1, 0)); in TEST_P()
99 const Pose3f baseline(Vector3f{1, 2, 3}, Quaternionf::UnitRandom()); in TEST_P()
100 const Pose3f withinThreshold = in TEST_P()
101 baseline * Pose3f(Vector3f(0.3, -0.3, 0), rotateX(0.03) * rotateY(-0.03)); in TEST_P()
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DPose.cpp28 std::optional<Pose3f> Pose3f::fromVector(const std::vector<float>& vec) { in fromVector()
32 return Pose3f({vec[0], vec[1], vec[2]}, rotationVectorToQuaternion({vec[3], vec[4], vec[5]})); in fromVector()
35 std::vector<float> Pose3f::toVector() const { in toVector()
40 std::string Pose3f::toString() const { in toString()
53 std::tuple<Pose3f, bool> moveWithRateLimit(const Pose3f& from, const Pose3f& to, float t, in moveWithRateLimit()
65 Pose3f fromToTo = from.inverse() * to; in moveWithRateLimit()
77 std::ostream& operator<<(std::ostream& os, const Pose3f& pose) { in operator <<()
DModeSelector-test.cpp37 EXPECT_EQ(selector.getHeadToStagePose(), Pose3f()); in TEST()
41 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
54 const Pose3f screenToHead({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
66 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
67 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom()); in TEST()
82 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
83 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom()); in TEST()
98 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
99 const Pose3f screenToStage({4, 5, 6}, Quaternionf::UnitRandom()); in TEST()
114 const Pose3f worldToHead({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
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DModeSelector.h79 void setScreenToStagePose(const Pose3f& screenToStage);
87 void setScreenToHeadPose(int64_t timestamp, const std::optional<Pose3f>& screenToHead);
94 void setWorldToHeadPose(int64_t timestamp, const Pose3f& worldToHead);
110 Pose3f getHeadToStagePose() const;
124 Pose3f mScreenToStage;
125 std::optional<Pose3f> mScreenToHead;
127 std::optional<Pose3f> mWorldToHead;
133 Pose3f mHeadToStage;
DPoseRateLimiter-test.cpp33 Pose3f target({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
40 Pose3f target1({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
41 Pose3f target2({4, 5, 6}, Quaternionf::UnitRandom()); in TEST()
52 Pose3f pose1({1, 2, 3}, Quaternionf::Identity()); in TEST()
53 Pose3f pose2({1, 2, 8}, rotateZ(M_PI * 5 / 8)); in TEST()
65 EXPECT_EQ(limiter.calculatePose(1002), Pose3f({1, 2, 4}, rotateZ(M_PI * 1 / 8))); in TEST()
67 EXPECT_EQ(limiter.calculatePose(1003), Pose3f({1, 2, 5}, rotateZ(M_PI * 2 / 8))); in TEST()
70 EXPECT_EQ(limiter.calculatePose(1005), Pose3f({1, 2, 7}, rotateZ(M_PI * 4 / 8))); in TEST()
80 Pose3f pose1({1, 2, 3}, Quaternionf::Identity()); in TEST()
81 Pose3f pose2({1, 2, 8}, rotateZ(M_PI * 5 / 8)); in TEST()
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DPoseDriftCompensator.cpp31 void PoseDriftCompensator::setInput(int64_t timestamp, const Pose3f& input) { in setInput()
34 Pose3f prevInputToInput = mPrevInput.inverse() * input; in setInput()
43 mOutput = Pose3f(); in recenter()
46 Pose3f PoseDriftCompensator::getOutput() const { in getOutput()
50 Pose3f PoseDriftCompensator::scale(const Pose3f& pose, int64_t dt) { in scale()
59 return Pose3f(translation, rotationVectorToQuaternion(rotationVec)); in scale()
DPosePredictor.h32 virtual void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) = 0;
33 virtual Pose3f predict(int64_t atNs) const = 0;
46 void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) override { in add()
52 Pose3f predict(int64_t atNs) const override { in predict()
74 Pose3f mLastPose;
84 void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) override { in add()
90 Pose3f predict(int64_t atNs) const override { in predict()
116 Pose3f mLastPose;
139 void add(int64_t atNs, const Pose3f& pose, const Twist3f& twist) override;
140 Pose3f predict(int64_t atNs) const override;
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DPoseDriftCompensator.h57 void setInput(int64_t timestamp, const Pose3f& input);
61 Pose3f getOutput() const;
66 Pose3f mPrevInput;
67 Pose3f mOutput;
70 Pose3f scale(const Pose3f& pose, int64_t dt);
DPoseRateLimiter.h75 void reset(const Pose3f& target);
76 void setTarget(const Pose3f& target);
78 Pose3f calculatePose(int64_t timestamp);
84 Pose3f pose;
90 std::optional<Pose3f> mTargetPose;
DPoseBias-test.cpp33 EXPECT_EQ(bias.getOutput(), Pose3f()); in TEST()
37 Pose3f pose1({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
38 Pose3f pose2({4, 5, 6}, Quaternionf::UnitRandom()); in TEST()
44 EXPECT_EQ(bias.getOutput(), Pose3f()); in TEST()
48 EXPECT_EQ(bias.getOutput(), Pose3f()); in TEST()
DPoseBias.h48 void setInput(const Pose3f& input);
52 Pose3f getOutput() const;
55 Pose3f mLastWorldToInput;
56 Pose3f mBiasToWorld;
DScreenHeadFusion-test.cpp36 fusion.setWorldToScreenPose(0, Pose3f()); in TEST()
42 fusion.setWorldToHeadPose(0, Pose3f()); in TEST()
47 Pose3f worldToScreen1({1, 2, 3}, Quaternionf::UnitRandom()); in TEST()
48 Pose3f worldToHead1({4, 5, 6}, Quaternionf::UnitRandom()); in TEST()
49 Pose3f worldToScreen2({11, 12, 13}, Quaternionf::UnitRandom()); in TEST()
50 Pose3f worldToHead2({14, 15, 16}, Quaternionf::UnitRandom()); in TEST()
DTestUtil.h35 inline AssertionResult CmpHelperEQ<android::media::Pose3f, android::media::Pose3f>(
36 const char* lhs_expression, const char* rhs_expression, const android::media::Pose3f& lhs,
37 const android::media::Pose3f& rhs) {
46 inline AssertionResult CmpHelperNE<android::media::Pose3f, android::media::Pose3f>(
47 const char* lhs_expression, const char* rhs_expression, const android::media::Pose3f& lhs,
48 const android::media::Pose3f& rhs) {
DStillnessDetector.h80 void setInput(int64_t timestamp, const Pose3f& input);
88 Pose3f pose;
104 bool areNear(const Pose3f& pose1, const Pose3f& pose2) const;
DPoseRateLimiter.cpp30 void PoseRateLimiter::reset(const Pose3f& target) { in reset()
35 void PoseRateLimiter::setTarget(const Pose3f& target) { in setTarget()
39 Pose3f PoseRateLimiter::calculatePose(int64_t timestamp) { in calculatePose()
41 Pose3f pose; in calculatePose()
DHeadTrackingProcessor.cpp61 void setWorldToHeadPose(int64_t timestamp, const Pose3f& worldToHead, in setWorldToHeadPose()
63 const Pose3f predictedWorldToHead = mPosePredictor.predict( in setWorldToHeadPose()
70 void setWorldToScreenPose(int64_t timestamp, const Pose3f& worldToScreen) override { in setWorldToScreenPose()
77 Pose3f worldToLogicalScreen = worldToScreen * Pose3f(rotateY(-mPhysicalToLogicalAngle)); in setWorldToScreenPose()
83 void setScreenToStagePose(const Pose3f& screenToStage) override { in setScreenToStagePose()
96 const Pose3f worldToLogicalScreen = mScreenPoseBias.getOutput(); in calculate()
109 Pose3f worldToHead = mHeadPoseBias.getOutput(); in calculate()
139 Pose3f getHeadToStagePose() const override { return mHeadToStagePose; } in getHeadToStagePose()
208 Pose3f mHeadToStagePose;
DScreenHeadFusion.h48 Pose3f pose;
51 void setWorldToHeadPose(int64_t timestamp, const Pose3f& worldToHead);
53 void setWorldToScreenPose(int64_t timestamp, const Pose3f& worldToScreen);
DTwist.cpp24 Pose3f integrate(const Twist3f& twist, float dt) { in integrate()
27 return Pose3f(translation, rotationVectorToQuaternion(rotationVector)); in integrate()
30 Twist3f differentiate(const Pose3f& pose, float dt) { in differentiate()
DPosePredictorVerifier.h39 void verifyActualPose(int64_t timestampNs, const Pose3f& pose) { in verifyActualPose()
56 void addPredictedPose(int64_t atNs, const Pose3f& pose) { in addPredictedPose()
70 std::deque<std::pair<int64_t, Pose3f>> mPredictions;
/frameworks/av/services/audiopolicy/service/
DSpatializerPoseController.h56 virtual void onHeadToStagePose(const media::Pose3f&) = 0;
90 void setScreenToStagePose(const media::Pose3f& screenToStage);
154 void onPose(int64_t timestamp, int32_t sensor, const media::Pose3f& pose,
161 std::tuple<media::Pose3f, std::optional<media::HeadTrackingMode>> calculate_l();

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