diff --git a/media/libheadtracking/PoseBias.cpp b/media/libheadtracking/PoseBias.cpp
new file mode 100644
index 0000000..33afca6
--- /dev/null
+++ b/media/libheadtracking/PoseBias.cpp
@@ -0,0 +1,35 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"){}
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "PoseBias.h"
+
+namespace android {
+namespace media {
+
+void PoseBias::setInput(const Pose3f& input) {
+    mLastWorldToInput = input;
+}
+
+void PoseBias::recenter() {
+    mBiasToWorld = mLastWorldToInput.inverse();
+}
+
+Pose3f PoseBias::getOutput() const {
+    return mBiasToWorld * mLastWorldToInput;
+}
+
+}  // namespace media
+}  // namespace android