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Coordinate System Transforms
Could anyone help with what should be a simple conversion:
I have a 3D coordinate (4x4 matrix) in camera space obtained from image processing (openCV), and would like to convert this to Unity world space.
Following examples from ARToolkit / HololensForCV / Spectator View, I have:
1. The cameraToUnity transform obtained by transforming the Windows::Perception::Spatial SpatialCoordinateSystem objects of the camera frame and unity
2. The cameraView transform obtained through the Windows::Media::Capture::Frame MediaFrameReference properties
3. The 3D coordinates from opencv in camera space
How I think it should work:
coordUnity = coordCamera * cameraToUnity * cameraView^-1
Something has gone very wrong in this thinking, and the unity coordinates don't make sense.
Anyone have an idea?