/// <summary>
/// Begin querying for found objects.
/// </summary>
/// <param name="filter">Filter to use for this query.</param>
/// <param name="callback">Callback used to report query results.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
private MLResult BeginObjectQueryAsync(Query.Filter filter, QueryResultsDelegate callback)
{
try
{
if (!MagicLeapNativeBindings.MLHandleIsValid(_instance.handle))
{
MLPluginLog.Error("MLFoundObjects.BeginObjectQuery failed to request found objects. Reason: Tracker handle is invalid");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
NativeBindings.QueryFilterNative nativeQueryFilter = new NativeBindings.QueryFilterNative();
nativeQueryFilter.Data = filter;
MLResult.Code resultCode = NativeBindings.MLFoundObjectQuery(_instance.handle, ref nativeQueryFilter, out ulong queryHandle);
MLResult result = MLResult.Create(resultCode);
if (!result.IsOk)
{
MLPluginLog.ErrorFormat("MLFoundObjects.BeginObjectQuery failed to request objects. Reason: {0}", resultCode);
return(result);
}
// Add query to the list of pendingQueries.
Query query = Query.Create(callback, filter);
MLFoundObjects._instance.pendingQueries.TryAdd(queryHandle, query);
return(result);
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLFoundObjects.BeginObjectQuery failed. Reason: API symbols not found");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObjects.BeginObjectQuery failed. Reason: API symbols not found"));
}
}
/// <summary>
/// Begin querying for found objects.
/// </summary>
/// <param name="callback">Callback used to report query results.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
private MLResult BeginObjectQuery(QueryResultsDelegate callback)
{
try
{
if (!MagicLeapNativeBindings.MLHandleIsValid(_instance.tracker))
{
MLPluginLog.Error("MLFoundObject.BeginObjectQuery failed to request found objects. Reason: Tracker handle is invalid");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
NativeBindings.QueryFilterNative queryFilter = new NativeBindings.QueryFilterNative();
MLResult.Code resultCode = NativeBindings.MLFoundObjectQuery(_instance.tracker, ref queryFilter, out ulong queryHandle);
MLResult result = MLResult.Create(resultCode);
if (!result.IsOk)
{
MLPluginLog.ErrorFormat("MLFoundObject.BeginObjectQuery failed to request objects. Reason: {0}", resultCode);
return(result);
}
// Create query object to prepresent this newly registered found object query.
NativeBindings.Query query = new NativeBindings.Query(callback, queryFilter, result);
MLFoundObjects._instance.pendingQueries.Add(queryHandle, query);
return(result);
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLFoundObjects.BeginObjectQuery failed. Reason: API symbols not found");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObjects.BeginObjectQuery failed. Reason: API symbols not found"));
}
}
/// <summary>
/// Initializes a new instance of the <see cref="Query"/> struct.
/// </summary>
/// <param name="callback">The callback that should be invoked.</param>
/// <param name="queryFilter">The filter applied to the query.</param>
/// <param name="result">The result of the query.</param>
public Query(QueryResultsDelegate callback, NativeBindings.QueryFilterNative queryFilter, MLResult result)
{
this.Callback = callback;
this.QueryFilter = queryFilter;
this.Result = result;
}
/// <summary>
/// Returns filtered list of PCFs based on the parameters of the given queryFilter.
/// </summary>
/// <param name="queryFilter">Parameters used to curate the returned values.</param>
/// <param name="pcfList">Stores the resulting list of PCFs.</param>
/// <param name="update">Determines if the PCFs should have their pose updated.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if all the PCFs from the current map have been found successfully.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if necessary privilege is missing.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to other internal error.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldLowMapQuality</c> if map quality is too low for content persistence. Continue building the map.
/// MLResult.Result will be <c>MLResult.Code.PassableWorldUnableToLocalize</c> if currently unable to localize into any map. Continue building the map.
/// </returns>
public static MLResult FindPCFsByFilter(QueryFilter queryFilter, out List <PCF> pcfList, bool update = true)
{
pcfList = new List <PCF>();
if (MLPersistentCoordinateFrames.IsValidInstance())
{
try
{
uint numPCFs = 0;
MLResult.Code resultCode = NativeBindings.MLPersistentCoordinateFrameGetCount(_instance.nativeTracker, ref numPCFs);
if (MLResult.IsOK(resultCode) && numPCFs > 0)
{
MagicLeapNativeBindings.MLCoordinateFrameUID[] cfuidArray = new MagicLeapNativeBindings.MLCoordinateFrameUID[numPCFs];
NativeBindings.QueryFilterNative queryFilterNative = NativeBindings.QueryFilterNative.Create();
queryFilterNative.Data = queryFilter;
uint cfuidCount = 0;
//// With these conditions the user is asking for all PCFs, no need to use the slower filtered query call.
if (queryFilter.TypesMask == (PCF.Types.SingleUserSingleSession | PCF.Types.SingleUserMultiSession | PCF.Types.MultiUserMultiSession) &&
queryFilter.Radius <= 0 && !queryFilter.Sorted)
{
resultCode = NativeBindings.MLPersistentCoordinateFrameGetAllEx(_instance.nativeTracker, numPCFs, cfuidArray);
cfuidCount = (uint)cfuidArray.Length;
}
else
{
resultCode = NativeBindings.MLPersistentCoordinateFrameQuery(_instance.nativeTracker, in queryFilterNative, cfuidArray, out cfuidCount);
}
if (MLResult.IsOK(resultCode))
{
for (int i = 0; i < cfuidCount; ++i)
{
MagicLeapNativeBindings.MLCoordinateFrameUID pcfCFUID = cfuidArray[i];
if (!pcfCFUID.Equals(MagicLeapNativeBindings.MLCoordinateFrameUID.EmptyFrame))
{
PCF pcf = null;
if (_instance.mapAllPCFs.ContainsKey(pcfCFUID))
{
pcf = _instance.mapAllPCFs[pcfCFUID];
}
else
{
pcf = new PCF(pcfCFUID);
_instance.mapAllPCFs.Add(pcfCFUID, pcf);
}
pcfList.Add(pcf);
if (update)
{
MLResult result = pcf.Update();
if (!result.IsOk)
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed to update the found PCF with CFUID {0}, Reason: {1}", pcf.CFUID, result);
}
}
}
}
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
if (resultCode == MLResult.Code.PassableWorldLowMapQuality || resultCode == MLResult.Code.PassableWorldUnableToLocalize)
{
MLPluginLog.WarningFormat("Map quality not sufficient enough for MLPersistentCoordinateFrames.FindPCFsByFilter. Reason: {0}", MLResult.CodeToString(resultCode));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: {0}", MLResult.CodeToString(resultCode));
}
return(MLResult.Create(resultCode, string.Format("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: {0}", MLResult.CodeToString(resultCode))));
}
}
else
{
if (resultCode == MLResult.Code.PassableWorldLowMapQuality || resultCode == MLResult.Code.PassableWorldUnableToLocalize)
{
MLPluginLog.WarningFormat("Map quality not sufficient enough for MLPersistentCoordinateFrames.FindPCFsByFilter. Reason: {0}", MLResult.CodeToString(resultCode));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: {0}", MLResult.IsOK(resultCode) ? "No PCFs could be found." : MLResult.CodeToString(resultCode));
}
return(MLResult.Create(resultCode, string.Format("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: {0}", MLResult.IsOK(resultCode) ? "No PCFs could be found." : MLResult.CodeToString(resultCode))));
}
}
catch (EntryPointNotFoundException)
{
MLPluginLog.Error("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: API symbols not found.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: API symbols not found."));
}
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}