public string CreateAnchor(Vec3 at, string id = null)
{
string anchorID = id == null
? Guid.NewGuid().ToString()
: id;
SpatialLocator locator = SpatialLocator.GetDefault();
SpatialStationaryFrameOfReference stationary = locator.CreateStationaryFrameOfReferenceAtCurrentLocation();
SpatialAnchor anchor = SpatialAnchor.TryCreateRelativeTo(stationary.CoordinateSystem);
Pose pose = World.FromPerceptionAnchor(anchor);
Pose newAnchor = pose.ToMatrix().Inverse.Transform(new Pose(at, Quat.Identity));
anchor = SpatialAnchor.TryCreateRelativeTo(stationary.CoordinateSystem, newAnchor.position, newAnchor.orientation);
pose = World.FromPerceptionAnchor(anchor);
if (anchor != null)
{
anchorPoses.Add(anchorID, pose);
}
return(anchorStore.TrySave(anchorID, anchor)
? anchorID
: null);
}
/// <summary>
/// Converts a <see cref="CoordinateSystem"/> in \psi basis to a <see cref="SpatialCoordinateSystem"/> in HoloLens basis.
/// </summary>
/// <param name="coordinateSystem">The <see cref="CoordinateSystem"/> in \psi basis.</param>
/// <returns>The <see cref="SpatialCoordinateSystem"/>.</returns>
public static SpatialCoordinateSystem TryConvertPsiCoordinateSystemToSpatialCoordinateSystem(this CoordinateSystem coordinateSystem)
{
var holoLensMatrix = coordinateSystem.RebaseToHoloLensSystemMatrix();
var translation = holoLensMatrix.Translation;
holoLensMatrix.Translation = Vector3.Zero;
var rotation = Quaternion.CreateFromRotationMatrix(holoLensMatrix);
var spatialAnchor = SpatialAnchor.TryCreateRelativeTo(MixedReality.WorldSpatialCoordinateSystem, translation, rotation);
return(spatialAnchor?.CoordinateSystem);
}
private void OnLocated(SpatialLocator loc, object args)
{
if (frame != null || loc.Locatability != SpatialLocatability.PositionalTrackingActive)
{
return;
}
frame = loc.CreateStationaryFrameOfReferenceAtCurrentLocation();
anchor = SpatialAnchor.TryCreateRelativeTo(frame.CoordinateSystem);
root = World.FromPerceptionAnchor(anchor).ToMatrix();
UpdateBounds(center, radius);
}