/// <summary>
/// Returns the TrackableResult that match this trackable.
/// </summary>
/// <param name="detectedTrackables">The detected trackables.</param>
/// <returns>The TrackableResult that match this trackable.</returns>
internal override TrackableResult FindMatchedTrackable(IEnumerable <TrackableResult> detectedTrackables)
{
var detectedVuMarks = detectedTrackables
.Where(tr => tr is VuMarkTargetResult &&
tr.Trackable.Name == this.TrackableName)
.Cast <VuMarkTargetResult>();
TrackableResult machedTrackable = null;
foreach (var vtr in detectedVuMarks)
{
if (this.IDType == vtr.DataType)
{
if (this.IDType == VuMarkDataTypes.Bytes ||
(this.IDType == VuMarkDataTypes.String && vtr.StringValue == this.StringValue) ||
(this.IDType == VuMarkDataTypes.Numeric && vtr.NumericValue == this.NumericValue))
{
machedTrackable = vtr;
break;
}
}
}
return(machedTrackable);
}
private TrackableResult UpdateWorldCenterResult(out Matrix?cameraTransform)
{
TrackableResult result = null;
Matrix? additionalTransform = null;
cameraTransform = null;
if (this.WorldCenterMode == WorldCenterMode.FirstTarget)
{
result = this.TrackableResults.FirstOrDefault();
}
else if (this.WorldCenterMode == WorldCenterMode.SpecificTarget &&
this.WorldCenterTrackable != null)
{
result = this.WorldCenterTrackable.FindMatchedTrackable(this.platformSpecificARService.TrackableResults);
var resultTransform = this.WorldCenterTrackable.Owner.FindComponent <Transform3D>(false);
if (resultTransform != null)
{
additionalTransform = Matrix.CreateFromTRS(resultTransform.Position, resultTransform.Orientation, Vector3.One);
}
}
if (result != null)
{
cameraTransform = Matrix.Invert(result.Pose);
if (additionalTransform.HasValue)
{
cameraTransform *= additionalTransform.Value;
}
}
return(result);
}
/// <summary>
/// Create a trackable result based on a <see cref="QCAR_TrackableResult"/>.
/// </summary>
/// <param name="trackableResult">The Vuforia trackable result</param>
/// <param name="dataset">The dataset that contains the definition of the targets</param>
/// <returns>Returns a <see cref="TrackableResult"/>.</returns>
internal static TrackableResult CreateTrackableResult(QCAR_TrackableResult trackableResult, DataSet dataset)
{
TrackableResult result;
var trackable = dataset.Trackables.First(t => t.Id == trackableResult.TemplateId);
if (trackable is ImageTarget)
{
result = new TrackableResult(trackableResult, trackable);
}
else if (trackable is VuMarkTarget)
{
result = new VuMarkTargetResult(trackableResult, (VuMarkTarget)trackable);
}
else
{
throw new NotImplementedException("Invalid target type");
}
return(result);
}
