Example #1
0
        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();
 }