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Commit f0a0ad0f authored by Ytai Ben-Tsvi's avatar Ytai Ben-Tsvi Committed by Automerger Merge Worker
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Convert between sensor framework and head tracking frames am: 54f07586 

Original change: https://googleplex-android-review.googlesource.com/c/platform/frameworks/av/+/15821546

Change-Id: Ibf702cbc43c69467ad23c628a1864e38527a1c4d
parents 9d7f9946 54f07586

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>());

            }