HoloLens+unity 3D开发时的坐标系问题

1.坐标系系统

HoloLens：右手

Unity：左手

2.ARCamera的设置

坐标系系统的选择上，头戴式不受限制，Hololens受限于只能选择camera坐标系。

程序在PC上运行时，实际坐标系基准以选择的world center为准，作为场景中的固定对象

程序在Hololens上运行时，由于Hololens本身是自定位，所选择的center实际上无效，被Hololens所建立的地图坐标系所取代，作为全局基准坐标系，所有的对象均转换到该坐标系下。

3.相对坐标的转换

 

               Matrix4x4 Road2HoloLens = GetExtrinsic(imageTarget.transform);
            //获得hololens到road的转换矩阵，inv
            Matrix4x4 Hololens2Road = Road2HoloLens.inverse;
        //    Matrix4x4 Road2World=GetExtrinsic()
            Vector4 vy = Hololens2Road.GetColumn(1);
            Vector4 vz = Hololens2Road.GetColumn(2);

            Quaternion newQ = Quaternion.LookRotation(new Vector3(vz.x, vz.y, vz.z), new Vector3(vy.x, vy.y, vy.z));
            cylinder.transform.position = new Vector3(Hololens2Road.m03, Hololens2Road.m13, Hololens2Road.m23);
            cylinder.transform.rotation = newQ;


    Matrix4x4 GetExtrinsic(Transform trans)
    {
        Matrix4x4 rot = new Matrix4x4();
        rot.SetTRS(trans.position, trans.rotation, new Vector3(1, 1, 1));
        return rot;
    }

4.以方向向量定义物体的姿态

Unity场景中shi左手坐标系，再获取姿态四元数后，需要再绕X轴旋转90度

    {
        Vector3 posA = fingerData[keyA];
        Vector3 posB = fingerData[keyB];

        handCylinder[i * 3 + j].transform.position = GetMiddlePoint(posA, posB);
        handCylinder[i * 3 + j].transform.localScale = new Vector3(0.012f, (posA - posB).magnitude / 2, 0.012f);

        handCylinder[i * 3 + j].transform.rotation = Quaternion.LookRotation(posB - posA);
        //       transform.position = GetMiddlePoint(__AllFingerData_vector[1], __AllFingerData_vector[0]);
        handCylinder[i * 3 + j].transform.Rotate(new Vector3(1, 0, 0), 90);
    }