Merge "SensorPoseProvider: Remove custom sensor handling" into tm-dev (471f3ac6) · Commits · e / os / android_frameworks_av

media/libheadtracking/SensorPoseProvider.cpp

+0 −20

Original line number	Diff line number	Diff line
		@@ -158,7 +158,6 @@ class SensorPoseProviderImpl : public SensorPoseProvider {
		enum DataFormat {
		kUnknown,
		kQuaternion,
		kRotationVectorsAndFlags,
		kRotationVectorsAndDiscontinuityCount,
		};

		@@ -283,10 +282,6 @@ class SensorPoseProviderImpl : public SensorPoseProvider {
		return DataFormat::kRotationVectorsAndDiscontinuityCount;
		}

		if (sensor->getStringType() == "com.google.hardware.sensor.hid_dynamic.headtracker") {
		return DataFormat::kRotationVectorsAndFlags;
		}

		return DataFormat::kUnknown;
		}

		@@ -332,21 +327,6 @@ class SensorPoseProviderImpl : public SensorPoseProvider {
		return PoseEvent{Pose3f(quat), std::optional<Twist3f>(), false};
		}

		case DataFormat::kRotationVectorsAndFlags: {
		// Custom sensor, assumed to contain:
		// 3 floats representing orientation as a rotation vector (in rad).
		// 3 floats representing angular velocity as a rotation vector (in rad/s).
		// 1 uint32_t of flags, where:
		// - LSb is '1' iff the given sample is the first one in a new frame of reference.
		// - The rest of the bits are reserved for future use.
		Eigen::Vector3f rotation = {event.data[0], event.data[1], event.data[2]};
		Eigen::Vector3f twist = {event.data[3], event.data[4], event.data[5]};
		Eigen::Quaternionf quat = rotationVectorToQuaternion(rotation);
		uint32_t flags = reinterpret_cast<const uint32_t>(&event.data[6]);
		return PoseEvent{Pose3f(quat), Twist3f(Eigen::Vector3f::Zero(), twist),
		(flags & (1 << 0)) != 0};
		}

		case DataFormat::kRotationVectorsAndDiscontinuityCount: {
		Eigen::Vector3f rotation = {event.head_tracker.rx, event.head_tracker.ry,
		event.head_tracker.rz};