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Commit 26c952bf authored by Pierre Fite-Georgel's avatar Pierre Fite-Georgel Committed by Brian Duddie
Browse files

Clarify documentation for AINFO_SENSOR_PLACEMENT 

Specify units of location vector and define the direction of the
rotation matrix translation as Android device frame to local sensor
frame.

Fixes: 133264933
Test: n/a, comment update only
Change-Id: I76dae7a6fae3c8f44a4dcd1fcc6b790abff86420
parent d05b6236

current.txt

+1 −0
Original line number Diff line number Diff line
@@ -412,6 +412,7 @@ ed9da80ec0c96991fd03f0a46107815d0e50f764656e49dba4980fa5c31d5bc3 android.hardwar 
cd1757867a5e3a3faa362e785239515870d1a3c9ce756c6f0cf0f0fd8aac2547 android.hardware.radio@1.2::types

722b3595548ed7f1953b6e0143dc842d4d6e290ff009a134eb518d7c17a09347 android.hardware.radio@1.2::types # b/112486807

e78cf871f9fd1c072874e481e06e18e2681763cf2aa38c1fd777d53bab4eb69b android.hardware.sensors@1.0::types

c28859a334c1f540dea0a7d4f0baef0551ba76a3232f53c936196543ee35bc4d android.hardware.sensors@1.0::types # b/133264933

3d01e29e8129186f7567c4f9c8bee7480a0768e587b1be9b28adb0a6cbec6bf2 android.hardware.tv.cec@1.0::types

1722ad002317b1fae1400de709e90f442d94ef22864e05f7a12af48c32e8edc8 android.hardware.usb@1.1::types

29c8da7a13c40d488f569c812441d5754ee45bdcdb8ce6564f524b708d10a057 android.hardware.vibrator@1.1::types

sensors/1.0/types.hal

+34 −4
Original line number Diff line number Diff line
@@ -1008,10 +1008,40 @@ enum AdditionalInfoType : uint32_t { 
    AINFO_VEC3_CALIBRATION,



    /**

     * Location and orientation of sensor element in the device frame: origin is

     * the geometric center of the mobile device screen surface; the axis

     * definition corresponds to Android sensor definitions.

     * float[12]: 3x4 matrix in row major order

     * Provides the orientation and location of the sensor element in terms of

     * the Android coordinate system. This data is given as a 3x4 matrix

     * consisting of a 3x3 rotation matrix (R) concatenated with a 3x1 location

     * vector (t). The rotation matrix provides the orientation of the Android

     * device coordinate frame relative to the local coordinate frame of the

     * sensor. Note that assuming the axes conventions of the sensor are the

     * same as Android, this is the inverse of the matrix applied to raw

     * samples read from the sensor to convert them into the Android

     * representation. The location vector represents the translation from the

     * origin of the Android sensor coordinate system to the geometric center

     * of the sensor, specified in millimeters (mm).

     *

     * float[12]: 3x4 matrix in row major order [R; t]

     *

     * Example:

     *     This raw buffer: {0, 1, 0, 0, -1, 0, 0, 10, 0, 0, 1, -2.5}

     *     Corresponds to this 3x4 matrix:

     *         0 1 0    0

     *        -1 0 0   10

     *         0 0 1 -2.5

     *     The sensor is oriented such that:

     *         - the device X axis corresponds to the sensor's local -Y axis

     *         - the device Y axis corresponds to the sensor's local X axis

     *         - the device Z axis and sensor's local Z axis are equivalent

     *     In other words, if viewing the origin of the Android coordinate

     *     system from the positive Z direction, the device coordinate frame is

     *     to be rotated 90 degrees counter-clockwise about the Z axis to align

     *     with the sensor's local coordinate frame. Equivalently, a vector in

     *     the Android coordinate frame may be multiplied with R to rotate it

     *     90 degrees clockwise (270 degrees counter-clockwise), yielding its

     *     representation in the sensor's coordinate frame.

     *     Relative to the origin of the Android coordinate system, the physical

     *     center of the sensor is located 10mm in the positive Y direction, and

     *     2.5mm in the negative Z direction.

     */

    AINFO_SENSOR_PLACEMENT,