/// <summary>
/// Get the frame pose.
/// </summary>
/// <param name="cameraId">The camera id.</param>
/// <param name="vcamTimestamp">The timestamp of the frame pose.</param>
/// <param name="outTransform">The transform of the frame pose.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
private MLResult InternalGetFramePose(MLCVCameraNativeBindings.CameraID cameraId, ulong vcamTimestamp, out Matrix4x4 outTransform)
{
MagicLeapNativeBindings.MLTransform outInternalTransform = new MagicLeapNativeBindings.MLTransform();
MLResult.Code resultCode = MLCVCameraNativeBindings.MLCVCameraGetFramePose(Handle, headTrackerHandle, cameraId, vcamTimestamp, ref outInternalTransform);
MLResult poseResult = MLResult.Create(resultCode);
if (!poseResult.IsOk)
{
MLPluginLog.ErrorFormat("MLCamera.InternalGetFramePose failed to get camera frame pose. Reason: {0}", poseResult);
outTransform = new Matrix4x4();
}
else
{
outTransform = MLConvert.ToUnity(outInternalTransform);
}
return(poseResult);
}
/// <summary>
/// Sets the offset position/rotation values from the current Perception root and can also set the PCF to be used as the new Perception root to which all MLSnapshotGetTransform will be relative to.
/// </summary>
/// <param name="offsetPosition">The offset to set from the root's position.</param>
/// <param name="offsetRotation">The offset to set from the root's rotation.</param>
/// <param name="pcf">The PCF to set the root to.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if operation completed successfully.
/// MLResult.Result will be <c>MLResult.Code.MLPerceptionNotStarted</c> if unable to retrieve the Perception System.
/// MLResult.Result will be <c>MLResult.Code.MLPerceptionInvalidPCFRoot</c> if the provided CFUID is not associated with a valid PCF.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if the CFUID is not valid.
/// </returns>
public static MLResult.Code SetPerceptionRoot(Vector3 offsetPosition, Quaternion offsetRotation, PCF pcf)
{
IntPtr cfuidPointer = IntPtr.Zero;
IntPtr mlTransformPointer = IntPtr.Zero;
try
{
if (pcf != null)
{
cfuidPointer = Marshal.AllocHGlobal(Marshal.SizeOf(pcf.CFUID));
Marshal.StructureToPtr(pcf.CFUID, cfuidPointer, false);
}
MagicLeapNativeBindings.MLTransform rootOffset = new MagicLeapNativeBindings.MLTransform();
rootOffset.Position = MLConvert.FromUnity(offsetPosition);
rootOffset.Rotation = MLConvert.FromUnity(offsetRotation);
mlTransformPointer = Marshal.AllocHGlobal(Marshal.SizeOf(rootOffset));
Marshal.StructureToPtr(rootOffset, mlTransformPointer, false);
MLResult.Code resultCode = NativeBindings.MLPerceptionSetRootCoordinateFrame(cfuidPointer, mlTransformPointer);
Marshal.FreeHGlobal(cfuidPointer);
Marshal.FreeHGlobal(mlTransformPointer);
return(resultCode);
}
catch (EntryPointNotFoundException)
{
MLPluginLog.Error("MLPersistentCoordinateFrames.NativeBindings.SetPerceptionRoot failed. Reason: API symbols not found.");
Marshal.FreeHGlobal(cfuidPointer);
Marshal.FreeHGlobal(mlTransformPointer);
return(MLResult.Code.UnspecifiedFailure);
}
}
