【C#】AR unity 陀螺仪控制摄像机 真实方向

using UnityEngine;
using System.Collections;
using System.Collections.Generic;
using System;

public class TurntableSensorCamera : MonoBehaviour
{
public Transform target;
public float distance;
public float heightdistance;
public bool useRelativeCameraRotation = true;
// initial camera and sensor value
private Quaternion initialCameraRotation = Quaternion.identity;
List<Quaternion> quaternionList = new List<Quaternion>();
private bool gotFirstValue = false;

float timer = 0f;
// Use this for initialization
void Start()
{
Input.compass.enabled = true;
// for distance calculation --> its much easier to make adjusments in the editor, just put
// your camera where you want it to be
if (target == null) { Debug.LogWarning("Warning! Target for TurntableSensorCamera is null."); return; }

// if distance is set to zero, use current camera position --> easier setup
if (distance == 0)
distance = (transform.position - target.position).magnitude;
heightdistance = -1;
// if you start the app, you will be viewing in the same direction your unity camera looks right now
if (useRelativeCameraRotation)
initialCameraRotation = Quaternion.Euler(0, -transform.rotation.eulerAngles.y, 0);
else
initialCameraRotation = Quaternion.identity;
print(-transform.rotation.eulerAngles.y);
// direct call
// Sensor.Activate(Sensor.Type.RotationVector);

// SensorHelper call with fallback
//		SensorHelper.ActivateRotation();
SensorHelper.TryForceRotationFallback(RotationFallbackType.OrientationAndAcceleration);

StartCoroutine(Calibration());
}

IEnumerator Calibration()
{
gotFirstValue = false;

while (!SensorHelper.gotFirstValue)
{
SensorHelper.FetchValue();
yield return null;
}

SensorHelper.FetchValue();

// wait some frames
yield return new WaitForSeconds(0.1f);

// Initialize rotation values
Quaternion initialSensorRotation = SensorHelper.rotation;
initialCameraRotation *= Quaternion.Euler(0, Input.compass.trueHeading - initialSensorRotation.eulerAngles.y, 0);//真实方向

// allow updates
gotFirstValue = true;
}
AngleFilter magneticFilter = new AngleFilter(10);
// Update is called once per frame
void LateUpdate()
{
// first value gotten from sensor is the offset value for further processing
if (useRelativeCameraRotation)
if (!gotFirstValue) return;

// do nothing if there is no target
timer += Time.deltaTime;
if (target == null) return;
if (timer >= 1 && timer <= 1.5)
{
initialCameraRotation = Quaternion.identity;
Quaternion initialSensorRotation = SensorHelper.rotation;
switch (Input.deviceOrientation)
{
case DeviceOrientation.FaceDown://该设备与地面平行，屏幕朝下。
initialCameraRotation *= Quaternion.Euler(0, initialSensorRotation.eulerAngles.y - Input.compass.trueHeading, 0);//真实方向
break;
case DeviceOrientation.FaceUp://该设备与地面平行，屏幕朝上。
case DeviceOrientation.LandscapeLeft://设备处于横向模式，设备保持直立状态
case DeviceOrientation.LandscapeRight://设备处于横向模式，设备保持直立状态
case DeviceOrientation.Portrait://设备处于竖屏模式，设备保持直立状态
case DeviceOrientation.PortraitUpsideDown://该设备处于竖屏模式，但上下颠倒，设备直立。
initialCameraRotation *= Quaternion.Euler(0, Input.compass.trueHeading - initialSensorRotation.eulerAngles.y, 0);//真实方向
break;
}
Quaternion q = initialCameraRotation * SensorHelper.rotation;
transform.rotation = Quaternion.Slerp(transform.rotation, q, 0.5f);
if (timer > 1.5f)
timer = 0;
}
else
{
quaternionList.Add(initialCameraRotation * SensorHelper.rotation);
if (quaternionList.Count > 1)
{
Quaternion q = new Quaternion(Round(EndPosionManager.Average(quaternionList).x, 1), Round(EndPosionManager.Average(quaternionList).y, 1), Round(EndPosionManager.Average(quaternionList).z, 1), EndPosionManager.Average(quaternionList).w);

transform.rotation = Quaternion.Slerp(transform.rotation, q, 0.2f);
quaternionList.Clear();
}
}
transform.position = target.position - transform.forward * distance - transform.up * heightdistance;
}
float Round(float x, int f)//四元数精度处理
{
float result = (float)Math.Round((double)x, f);
return result;
}