rotation on VR headset works

applications/gui/src/camera.cpp

@@ -353,37 +353,33 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
 				Eigen::Matrix4d eye_l = ConvertSteamVRMatrixToMatrix4(
 					vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Left));
 				
-				//Eigen::Matrix4d eye_r = ConvertSteamVRMatrixToMatrix4(
-				//	vr::VRSystem()->GetEyeToHeadTransform(vr::Eye_Right));
-				//LOG(INFO) << ConvertSteamVRMatrixToMatrix4(vr::VRSystem()->GetProjectionMatrix(vr::Eye_Left, 0.01, 10.0));
-				//LOG(INFO) << "\n" << ConvertSteamVRMatrixToMatrix4(vr::VRSystem()->GetProjectionMatrix(vr::Eye_Left, 0.1, 100.0));
 				// assumes eye_l(3, 0) = -eye_r(3, 0)
 				// => baseline = abs(2*eye_l(3, 0))
-
 				float baseline_in = 2.0 * -eye_l(0, 3);
 				if (baseline_in != baseline_) {
 					baseline_ = baseline_in;
-					LOG(INFO) << source()->getNet()->getID();
-					/*
-					screen_-> control()->set(
-						source()->getNet()->getPeerId("tcp://localhost:9001"),
-						source()->getURI() + "/baseline", baseline_);
-					
-					LOG(INFO) << "Baseline updated, new value: " << baseline_;*/
+					// TODO: update baseline on ftl-reconstruct
 				}
 				
-				auto pose = ConvertSteamVRMatrixToMatrix4( rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking );
-				
-				pose = pose.inverse();
+				Eigen::Matrix4d pose = ConvertSteamVRMatrixToMatrix4(rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking);
 				
+				// translate to L eye
 				Eigen::Translation3d trans(eye_);
 				Eigen::Affine3d t(trans);
 				Eigen::Matrix4d viewPose = t.matrix() * pose;
 
+				// flip rotation (different coordinate axis on OpenGL/ftl)
+				Eigen::Vector3d ea = viewPose.block<3, 3>(0, 0).eulerAngles(0, 1, 2);
+				Eigen::Matrix3d R;
+				R =		Eigen::AngleAxisd(-ea[0], Eigen::Vector3d::UnitX()) *
+						Eigen::AngleAxisd(ea[1], Eigen::Vector3d::UnitY()) *
+						Eigen::AngleAxisd(-ea[2], Eigen::Vector3d::UnitZ()); 
+				viewPose.block<3, 3>(0, 0) = R;
+
 				if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
 				
 			} else {
-				//DLOG(ERROR) << "No VR Pose";
+				LOG(ERROR) << "No VR Pose";
 			}
 			#endif
 		} else {