commit 54f075866282357aab2afd5bb207217710fdef57
author Ytai Ben-Tsvi <ytai@google.com> Mon Sep 13 12:09:42 2021 -0700
committer Ytai Ben-Tsvi <ytai@google.com> Mon Sep 13 16:46:55 2021 -0700
tree c02dff33277cf53fa3251d49515e4f29f716387e
parent 2be8b29bd9d59497756635ce96ef508c3a0fb48d

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

media/libheadtracking/SensorPoseProvider.cpp

diff --git a/media/libheadtracking/SensorPoseProvider.cpp b/media/libheadtracking/SensorPoseProvider.cpp
index da1d8cb..cfa23d0 100644
--- a/media/libheadtracking/SensorPoseProvider.cpp
+++ b/media/libheadtracking/SensorPoseProvider.cpp
@@ -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 @@
             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>());
             }