EstimateFeatureMapQualityForHosting always returns "Insufficient"

Question

The extension method EstimateFeatureMapQualityForHosting always returns Insufficient no matter how hard I try to move around the camera.

I checked that the Pose I give is indeed the Camera's pose.

I tested it on several devices, including a Pixel 6.

I tried polling every frame and polling on user input every few seconds.

Answer 1

So, the problem is there is a mistake in the documentation/samples.

EstimateFeatureMapQualityForHosting expects the camera pose in the local coordinates.

It's not explicitly written in the documentation, but in the sample of the unity package they also take the global pose. Luckly their ARSessionOrigin is at (0,0,0) so it doesn't matter if you take the local or global pose. I didn't have the ARSessionOrigin not at (0,0,0) so for me there was a difference.