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Locatable camera bugs?

I'm attempting to draw a ray from the camera's perspective in world space, but something is wrong with the output. Basically if I aim the centre of the camera image at a point in the world then draw a ray based on the output, it's not quite in the right place. I figured it might be related to intrinsic parameters such as centre of projection, so I grabbed the matrix with PhotoCaptureFrame.TryGetProjectionMatrix and I got the following:

******Instric Params Matrix*******
1.5182 0.0000 0.0094 0.0000
0.0000 2.6957 -0.0256 0.0000
0.0000 0.0000 -1.0000 0.0000
0.0000 0.0000 -1.0000 0.0000

However, the Locatable camera article ( https://developer.microsoft.com/en-us/windows/holographic/locatable_camera ) says this is the format:
Matrix4x4 format Terms
m11 m12 m13 m14 fx 0 0 0
m21 m22 m23 m24 skew fy 0 0
m31 m32 m33 m34 cx cy A -1
m41 m42 m43 m44 0 0 B 0

which has a few obvious inconsistencies, such as -1 as a constant in the format whereas the output I got is 0.

To draw the ray using the camera's image I'm doing the following:

photoCaptureFrame.TryGetCameraToWorldMatrix (out extMatrix)
mWorldPos = extMatrix.MultiplyPoint(Vector3.zero);
mWorldRot = extMatrix.MultiplyVector(Vector3.back);
GL.Color( Color.green );
GL.Vertex3 (mWorldPos.x, mWorldPos.y, mWorldPos.z);
Vector3 camEndPos = mWorldPos + (mWorldRot*5.0f);
GL.Vertex3 (camEndPos.x, camEndPos.y, camEndPos.z);

which is getting close, but definitely not as close as it should be. Is there an error here? The only thing I could think of to correct the error was the intrinsic parameters, but they're inconsistent with the documentation so I'm not sure if they're providing anything useful.


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    Hi everyone, hello Microsoft, please check this post:
    as Elspin says, in your documentation of the Locatable camera https://developer.microsoft.com/en-us/windows/holographic/locatable_camera, there is this:

    Matrix4x4 format Terms
    m11 m12 m13 m14 fx 0 0 0
    m21 m22 m23 m24 skew fy 0 0
    m31 m32 m33 m34 cx cy A -1
    m41 m42 m43 m44 0 0 B 0

    indeed I think this is wrong, it should be transposed:

    Matrix4x4 format Terms
    m11 m12 m13 m14 fx skew cx 0
    m21 m22 m23 m24 0 fy cy 0
    m31 m32 m33 m34 0 0 A B
    m41 m42 m43 m44 0 0 -1 0

    would anyone confirm?

    What is A?
    In my experience, and according to literature, the element 3,3 of projection matrix is 1. Not -1; is it related to a change in right/left cartesian coordinates? maybe from camera (right handed with z going backward) to unity (left handed with z going forward)? support is appreciated


  • Options

    Thanks for the tip @gio , that looks like it might make sense. Hopefully someone from Microsoft looks at this. There badly needs to be a way to report bugs to them other than them maybe one day looking at the forums

  • Options

    According to the documentation of the locatable camera, I also would like to know what is the meaning of the Parameters A and B in the projection Matrix?

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