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d/wmr: Fix pose correction from Basalt

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There was a confusion about whether this was needed for some apps. It was.
This commit is contained in:
Mateo de Mayo 2022-06-02 11:25:40 -03:00 committed by Jakob Bornecrantz
parent e7c3376612
commit 604815cb51
1 changed files with 4 additions and 0 deletions
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4
src/xrt/drivers/wmr/wmr_hmd.c
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@ -969,6 +969,10 @@ wmr_hmd_get_3dof_tracked_pose(struct xrt_device *xdev,
XRT_MAYBE_UNUSED static inline struct xrt_pose
wmr_hmd_correct_pose_from_basalt(struct xrt_pose pose)
{
struct xrt_quat q = {0.70710678, 0, 0, 0.70710678};
math_quat_rotate(&q, &pose.orientation, &pose.orientation);
math_quat_rotate_vec3(&q, &pose.position, &pose.position);
// Correct swapped axes
pose.position.y = -pose.position.y;
pose.position.z = -pose.position.z;