Jetpack XR용 ARCore를 사용하여 기기의 포즈 추적

// Define the configuration object to enable tracking device pose.
val newConfig = session.config.copy(
    headTrackingMode = Config.HeadTrackingMode.LAST_KNOWN
)
// Apply the configuration to the session.
try {
    when (val configResult = session.configure(newConfig)) {
        is SessionConfigureSuccess -> {
            // The session is now configured to track the device's pose.
        }
        else -> {
            // Catch-all for other configuration errors returned using the result class.
        }
    }
} catch (e: UnsupportedOperationException) {
    // Handle configuration failure. For example, if the specific mode is not supported on the current device or API version.
}

// Get the ArDevice instance
val arDevice = ArDevice.getInstance(session)

// Collect the state to process the device pose
arDevice.state.collect { state ->
      // processDevicePose gets called automatically when a new pose is available.
      processDevicePose(state.devicePose)
}

// Or, get the current device Pose from the AR Device's state.
// This is the device's position and orientation relative to the tracking origin.
val devicePose = ArDevice.getInstance(session).state.value.devicePose

fun processDevicePose(pose: Pose) {

    // Extract Translation and Rotation
    val translation = pose.translation // Vector3(x, y, z)
    val rotation = pose.rotation // Quaternion (x, y, z, w)

    TODO(/* Use the translation and rotation in your app. */)
}