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Commit 54f07586 authored by Ytai Ben-Tsvi's avatar Ytai Ben-Tsvi
Browse files

Convert between sensor framework and head tracking frames 

We use different frame conventions in the head tracking library and we
forgot to do the conversion.

Test: Manual inspection of logs while running head tracking.
Bug: 188502620
Change-Id: Icc750d581bbe269c81a2972b4fe2e11cde040ddf
parent 2be8b29b

media/libheadtracking/SensorPoseProvider.cpp

+4 −1
Original line number Diff line number Diff line
@@ -21,13 +21,14 @@ 
#include <inttypes.h>



#include <future>

#include <iostream>

#include <map>

#include <thread>



#include <android/looper.h>

#include <log/log_main.h>



#include "QuaternionUtil.h"



namespace android {

namespace media {

namespace {
@@ -217,6 +218,8 @@ class SensorPoseProviderImpl : public SensorPoseProvider { 
            case ASENSOR_TYPE_ROTATION_VECTOR:

            case ASENSOR_TYPE_GAME_ROTATION_VECTOR: {

                Eigen::Quaternionf quat(event.data[3], event.data[0], event.data[1], event.data[2]);

                // Adapt to different frame convention.

                quat *= rotateX(-M_PI_2);

                return std::make_tuple(Pose3f(quat), std::optional<Twist3f>());

            }