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Get position & rotation in DirectX
I'm using the Holographic Face Tracking demo and am trying to get the position and rotation of the RGB camera. I've tried to modify the code in HolographicFaceTrackerMain.cpp as follows:
//if (m_trackingFaces)
{
if (MediaFrameReference^ frame = m_videoFrameProcessor->GetLatestFrame())
{
if (m_trackingFaces)
ProcessFaces(m_faceTrackerProcessor->GetLatestFaces(), frame, currentCoordinateSystem);
SpatialCoordinateSystem^ cameraCoordinateSystem = frame->CoordinateSystem;
IBox<float4x4>^ cameraToWorld2 = cameraCoordinateSystem->TryGetTransformTo(currentCoordinateSystem);
float4x4 cameraToWorld = cameraToWorld2->Value;
float4x4 worldToCamera;
invert(cameraToWorld, &worldToCamera);
float3 position = transform(float3::zero(), cameraToWorld);
float3 position2 = transform(float3::zero(), worldToCamera);
String^ message = "position is (" + position.x + ", " + position.y + ", " + position.z + ")";
message += "; position2 is (" + position2.x + ", " + position2.y + ", " + position2.z + ")\n";
OutputDebugStringW(message->Data());
.....
}
I move the HoloLens physically upwards by about 0.5 meters and here's the difference in position values (I'm outputting both just in case; I believe "position" should be the correct value):
Before:
position is (-0.0204049, 0.10264, -0.141831); position2 is (-0.00106736, -0.101193, 0.144312)
After:
position is (0.00338281, 0.103749, -0.143451); position2 is (-0.000295428, -0.102156, 0.144629)
Which basically says I moved by only 0.0239 meters, when really I moved approximately 0.5 meters. What am I doing wrong for trying to get the RGB camera's position and rotation? (Note: I've tried to get the rotation and it seems correct but I can't tell for sure when I have an incorrect position).