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75 lines
2.1 KiB
75 lines
2.1 KiB
/*
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* Copyright (C) 2021 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#pragma once
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#include <optional>
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#include "media/Pose.h"
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namespace android {
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namespace media {
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/**
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* Drift compensator for a stream of poses.
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*
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* This is effectively a high-pass filter for a pose stream, removing any DC-offset / bias. The
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* provided input stream will be "pulled" toward identity with an exponential decay filter with a
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* configurable time constant. Rotation and translation are handled separately.
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*
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* Typical usage:
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* PoseDriftCompensator comp(...);
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*
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* while (...) {
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* comp.setInput(...);
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* Pose3f output = comp.getOutput();
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* }
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*
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* There doesn't need to be a 1:1 correspondence between setInput() and getOutput() calls. The
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* output timestamp is always that of the last setInput() call. Calling recenter() will reset the
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* bias to the current output, causing the output to be identity.
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*
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* The initial bias point is identity.
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*
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* This implementation is thread-compatible, but not thread-safe.
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*/
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class PoseDriftCompensator {
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public:
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struct Options {
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float translationalDriftTimeConstant = std::numeric_limits<float>::infinity();
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float rotationalDriftTimeConstant = std::numeric_limits<float>::infinity();
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};
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explicit PoseDriftCompensator(const Options& options);
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void setInput(int64_t timestamp, const Pose3f& input);
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void recenter();
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Pose3f getOutput() const;
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private:
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const Options mOptions;
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Pose3f mPrevInput;
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Pose3f mOutput;
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std::optional<int64_t> mTimestamp;
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Pose3f scale(const Pose3f& pose, int64_t dt);
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};
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} // namespace media
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} // namespace android
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