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reading camera rotation and movement

here's my idea and problem.
here's what i want the app to do.
let's say you're in a room and you open the app.
i want the app to create a 3D location and i want user to use the camera to find that location.the location can be higher,lower,behind user or anywhere else.
the user needs to rotate and move toward that location i chose, and when he reaches near it, i want to show a message(or do something else).
is it possible with Xamarin or Xamarin Form?should i use Gyroscope or OrientationSensor or something like these?
(i've never used camera api in any apps i've written so i don't know anything about camera apis)
the app is for android.

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