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Commit 519d4199 authored by Andy Hung's avatar Andy Hung Committed by Automerger Merge Worker
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Merge "SensorPoseProvider: Remove custom sensor handling" into tm-dev am: 471f3ac6 

Original change: https://googleplex-android-review.googlesource.com/c/platform/frameworks/av/+/18231765



Change-Id: Ic308ddde3ed6261344b2b2611a2ffd007d1ac735
Signed-off-by: default avatarAutomerger Merge Worker <android-build-automerger-merge-worker@system.gserviceaccount.com>
parents 70b38d97 471f3ac6

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};