CPC G06F 3/012 (2013.01) [G06F 3/011 (2013.01); G06F 3/014 (2013.01); G06F 3/017 (2013.01); G06F 3/0346 (2013.01); G06T 7/246 (2017.01); G06T 7/292 (2017.01); G06T 7/73 (2017.01); G06T 2207/10028 (2013.01)] | 28 Claims |
1. A method by a wearable device, comprising:
receiving geometric information in a transmission from a controller, the geometric information including a point cloud and a key frame of the controller, wherein the key frame of the controller includes image data associated with a particular portion of a scene;
receiving first six degree of freedom (6DoF) pose information from the controller;
determining overlapping feature points between the key frame of the controller and a key frame of the wearable device, wherein the key frame of the wearable device includes image data associated with the particular portion of the scene;
determining, based on the overlapping feature points, three-dimensional (3D) points in the point cloud of the controller that correspond to 3D points in a point cloud of the wearable device;
determining, based on the 3D points in the point cloud of the controller that correspond to the 3D points in the point cloud of the wearable device, a transformation from a coordinate system of the controller to a coordinate system of the wearable device;
applying the transformation to the first 6DoF pose information to convert a 6DoF pose of the controller from the coordinate system of the controller to the coordinate system of the wearable device; and
rendering content in an application based on the converted 6DoF pose.
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