/// <summary>
/// Update current additional rotation matrix based on the display orientation and color camera orientation.
///
/// Not that m_colorCameraPoseRotation will need to compensate the rotation with physical color camera.
/// </summary>
/// <param name="displayRotation">Orientation of current activity. Index enum is same same as Android screen
/// orientation standard.</param>
/// <param name="colorCameraRotation">Orientation of current color camera sensor. Index enum is same as Android
/// camera orientation standard.</param>
public static void UpdatePoseMatrixFromDeviceRotation(OrientationManager.Rotation displayRotation,
OrientationManager.Rotation colorCameraRotation)
{
Tango.OrientationManager.Rotation r = RotateFromAToB(displayRotation, colorCameraRotation);
switch (r)
{
case Tango.OrientationManager.Rotation.ROTATION_90:
m_colorCameraPoseRotation = ROTATION90_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_180:
m_colorCameraPoseRotation = ROTATION180_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_270:
m_colorCameraPoseRotation = ROTATION270_T_DEFAULT;
break;
default:
m_colorCameraPoseRotation = Matrix4x4.identity;
break;
}
switch (displayRotation)
{
case Tango.OrientationManager.Rotation.ROTATION_90:
m_devicePoseRotation = ROTATION90_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_180:
m_devicePoseRotation = ROTATION180_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_270:
m_devicePoseRotation = ROTATION270_T_DEFAULT;
break;
default:
m_devicePoseRotation = Matrix4x4.identity;
break;
}
}
/// <summary>
/// Get the world rotation.
/// </summary>
/// <returns> Quaternion representing the world rotation.</returns>
public static Quaternion GetWorldRotation()
{
return(OrientationManager.GetWorldRotation());
}
