Btukfyl

On Google Samples I can get samples about getting the Matrix from a Pose generated by an ArAnchor or from a ArPlane. But when I'm trying to get from ArCamera is not working, my result is an Identity Matrix.

Small part from my code:

ScopedArPose scopedArPose(ar_session_);

ArCamera_getPose(ar_session_, ar_camera, scopedArPose.GetArPose());

std::array<float, 16> out_matrix_col_major_4x4;



ArPose_getMatrix(ar_session_, scopedArPose.GetArPose(), out_matrix_col_major_4x4.data());

What is working:

ArSession is working, ArFrame is ok, I'm able to get ArCamera, ArCameraIntrinsicsis ok, ArImage is ok, AImage is ok.

Format and NumberOfPlanes from Image are ok.

ScopedArPose class is equal from google samples. array<float, 16> works fine, tested in google samples.

What is missing?

To solve this problem it needed to check the camera state before.

ArTrackingState camera_tracking_state;

ArCamera_getTrackingState(ar_session_, ar_camera, &camera_tracking_state);

// If the camera isn't tracking don't bother to go forward

if (camera_tracking_state != AR_TRACKING_STATE_TRACKING) {

    LOGI("ARCoreOdometry: Camera Not Tracking");

    return;

}