76 lines
2.2 KiB
C++
76 lines
2.2 KiB
C++
/*
|
|
* Copyright (C) 2023 The Android Open Source Project
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <string>
|
|
|
|
#include <audio_utils/Statistics.h>
|
|
#include <media/Pose.h>
|
|
|
|
namespace android::media {
|
|
|
|
/**
|
|
* PosePredictorVerifier is used to validate predictions
|
|
*
|
|
* This class is not thread-safe
|
|
*/
|
|
class PosePredictorVerifier {
|
|
public:
|
|
std::string toString() const {
|
|
return mErrorStats.toString();
|
|
}
|
|
|
|
static constexpr int64_t kMillisToNanos = 1000000;
|
|
|
|
void verifyActualPose(int64_t timestampNs, const Pose3f& pose) {
|
|
for (auto it = mPredictions.begin(); it != mPredictions.end();) {
|
|
if (it->first < timestampNs) {
|
|
it = mPredictions.erase(it);
|
|
} else {
|
|
int64_t dt = it->first - timestampNs;
|
|
if (std::abs(dt) < 10 * kMillisToNanos) {
|
|
const float angle = pose.rotation().angularDistance(it->second.rotation());
|
|
const float error = std::abs(angle); // L1 (absolute difference) here.
|
|
mLastError = error;
|
|
mErrorStats.add(error);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void addPredictedPose(int64_t atNs, const Pose3f& pose) {
|
|
mPredictions.emplace_back(atNs, pose);
|
|
}
|
|
|
|
float lastError() const {
|
|
return mLastError;
|
|
}
|
|
|
|
float cumulativeAverageError() const {
|
|
return mErrorStats.getMean();
|
|
}
|
|
|
|
private:
|
|
static constexpr double kCumulativeErrorAlpha = 0.999;
|
|
std::deque<std::pair<int64_t, Pose3f>> mPredictions;
|
|
float mLastError{};
|
|
android::audio_utils::Statistics<double> mErrorStats{kCumulativeErrorAlpha};
|
|
};
|
|
|
|
} // namespace androd::media
|