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Commit 010df208 authored by Hendrik Wagenaar's avatar Hendrik Wagenaar
Browse files

Add 180 rotation to sensord orientation 

Bug: None
Test: Manually tested locally
Change-Id: I135416a2c5be68172ff466bad503261adf29c5a9
parent d787577e

services/vr/sensord/pose_service.cpp

+9 −0
Original line number Original line Diff line number Diff line
@@ -435,6 +435,15 @@ void PoseService::UpdatePoseMode() { 
            kRotX90 * Rotationd(AngleAxisd(-k90DegInRad, kVecAxisY));

            kRotX90 * Rotationd(AngleAxisd(-k90DegInRad, kVecAxisY));

        start_from_head_rotation =

        start_from_head_rotation =

            (pose_state.sensor_from_start_rotation * kPostRotation).inverse();

            (pose_state.sensor_from_start_rotation * kPostRotation).inverse();

      } else if (device_orientation_type_ == kOrientationTypeLandscape180) {

        const Rotationd kPreRotation =

            Rotationd(AngleAxisd(k90DegInRad * 2.0, kVecAxisY)) *

            Rotationd(AngleAxisd(k90DegInRad * 2.0, kVecAxisZ));

        const Rotationd kPostRotation = kRotX90;

        start_from_head_rotation =

            (kPreRotation *

             pose_state.sensor_from_start_rotation * kPostRotation)

                .inverse();

      } else {

      } else {

        const Rotationd kPreRotation =

        const Rotationd kPreRotation =

            Rotationd(AngleAxisd(k90DegInRad, kVecAxisZ));

            Rotationd(AngleAxisd(k90DegInRad, kVecAxisZ));

services/vr/sensord/pose_service.h

+2 −0
Original line number Original line Diff line number Diff line
@@ -43,6 +43,8 @@ class PoseService : public pdx::ServiceBase<PoseService> { 
    kOrientationTypePortrait = 1,

    kOrientationTypePortrait = 1,

    // Landscape device.

    // Landscape device.

    kOrientationTypeLandscape = 2,

    kOrientationTypeLandscape = 2,

    // 180 Landscape device.

    kOrientationTypeLandscape180 = 3,

  };

  };





  // Initializes the service. Keeps a reference to sensor_thread, which must be

  // Initializes the service. Keeps a reference to sensor_thread, which must be