Jetpack XR 用 ARCore を使用して地理空間ポーズを操作する

<manifest ... >
  <uses-permission android:name="android.permission.INTERNET" />
  <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
  <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
</manifest>

// Define the configuration object to enable Geospatial features.
val newConfig = session.config.copy(
  // Set the GeospatialMode to VPS_AND_GPS.
  geospatial = Config.GeospatialMode.VPS_AND_GPS
  // Set the DeviceTrackingMode to LAST_KNOWN.
  deviceTracking = Config.DeviceTrackingMode.LAST_KNOWN
)

// Apply the configuration to the session.
try {
    when (val configResult = session.configure(newConfig)) {
        is SessionConfigureGooglePlayServicesLocationLibraryNotLinked -> {
            // This case generally indicates a missing library dependency.
        }
        is SessionConfigureSuccess -> {
            // The session is now configured to use the Geospatial API.
        }
        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 Geospatial instance
var geospatial = Geospatial.getInstance(session)

// You can query the GPS to get the current device's location and check if it has VPS
val latitude = getLatitudeFromGPS()
val longitude = getLongitudeFromGPS()

// Must be called from a coroutine.
val result = geospatial.checkVpsAvailability(latitude, longitude)
if (result is VpsAvailabilityAvailable) {
  // VPS is available
} else if (result is VpsAvailabilityUnavailable) {
  // VPS is not available
}

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

// Convert the device Pose into a GeospatialPose
when (val geospatialPoseResult = geospatial.createGeospatialPoseFromPose(devicePose)) {
    is CreateGeospatialPoseFromPoseSuccess -> {
        val currentGeospatialPose = geospatialPoseResult.pose
        val horizontalAccuracy = geospatialPoseResult.horizontalAccuracy
        // ... use pose and accuracy
     val latitude = currentGeospatialPose.latitude
     val longitude = currentGeospatialPose.longitude
    // The orientation is stored as a Quaternion in the EUS (East-Up-South) system. The EUS coordinate system has X+ pointing east, Y+ pointing up, and Z+ pointing south. True North is aligned with the -Z axis.
     val eusQuaternion = currentGeospatialPose.eastUpSouthQuaternion

    }
    is CreateGeospatialPoseFromPoseNotTracking -> {
        // Geospatial is not currently tracking
    }
}

when (val poseResult = geospatial.createPoseFromGeospatialPose(geospatialPose)) {
    is CreatePoseFromGeospatialPoseSuccess -> {
        val devicePose = poseResult.pose
    // devicePose is now ready to be used
    }
    is CreatePoseFromGeospatialPoseNotTracking -> {
        // Geospatial is not currently tracking
    }
}