public bool TryLocate(FrameTime frameTime, out Pose pose)
{
pose = Pose.identity;
#if WINDOWS_UWP
Quaternion rotation = Quaternion.identity;
Vector3 translation = new Vector3(0.0f, 0.0f, 0.0f);
System.IntPtr rootCoordnateSystemPtr = UnityEngine.XR.WindowsMR.WindowsMREnvironment.OriginSpatialCoordinateSystem;
Windows.Perception.Spatial.SpatialCoordinateSystem rootSpatialCoordinateSystem =
(Windows.Perception.Spatial.SpatialCoordinateSystem)System.Runtime.InteropServices.Marshal.GetObjectForIUnknown(rootCoordnateSystemPtr);
// Get the relative transform from the unity origin
System.Numerics.Matrix4x4?relativePose = CoordinateSystem.TryGetTransformTo(rootSpatialCoordinateSystem);
if (relativePose != null)
{
System.Numerics.Vector3 scale;
System.Numerics.Quaternion rotation1;
System.Numerics.Vector3 translation1;
System.Numerics.Matrix4x4 newMatrix = relativePose.Value;
// Platform coordinates are all right handed and unity uses left handed matrices. so we convert the matrix
// from rhs-rhs to lhs-lhs
// Convert from right to left coordinate system
newMatrix.M13 = -newMatrix.M13;
newMatrix.M23 = -newMatrix.M23;
newMatrix.M43 = -newMatrix.M43;
newMatrix.M31 = -newMatrix.M31;
newMatrix.M32 = -newMatrix.M32;
newMatrix.M34 = -newMatrix.M34;
System.Numerics.Matrix4x4.Decompose(newMatrix, out scale, out rotation1, out translation1);
translation = new Vector3(translation1.X, translation1.Y, translation1.Z);
rotation = new Quaternion(rotation1.X, rotation1.Y, rotation1.Z, rotation1.W);
pose = new Pose(translation, rotation);
return(true);
}
else
{
// Debug.Log("Id= " + id + " Unable to locate qrcode" );
}
#endif // WINDOWS_UWP
return(false);
}
public CameraExtrinsic([NotNull] Windows.Perception.Spatial.SpatialCoordinateSystem cameraCoordinateSystem, [NotNull] Windows.Perception.Spatial.SpatialCoordinateSystem worldOrigin)
{
if (cameraCoordinateSystem == null)
{
throw new ArgumentNullException(nameof(cameraCoordinateSystem));
}
if (cameraCoordinateSystem == null)
{
throw new ArgumentNullException(nameof(worldOrigin));
}
System.Numerics.Matrix4x4?viewFromWorld = cameraCoordinateSystem.TryGetTransformTo(worldOrigin);
if (!viewFromWorld.HasValue)
{
Debug.LogWarning("Could no retrieve view from world. Fallback to identity");
this.viewFromWorld = Matrix4x4.identity;
return;
}
this.viewFromWorld = viewFromWorld.Value.ToUnity();
}
