/// <summary>
/// Helper method that the MLArucoTracker API uses to marshal the results recieved from the device.
/// Results are released after being queried for.
/// </summary>
/// <param name="trackerResults">The array of marker results found by the device.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successfully fetched and returned all detections.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed to return detection data due to an invalid resultArray.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed to return detections due to an internal error.
/// </returns>
public static MLResult.Code GetResults(out MLArucoTrackerResultNative[] trackerResultsArray)
{
MLResult.Code resultCode = (NativeBindings.MLArucoTrackerGetResult(Instance.Handle, out MLArucoTrackerResultArrayNative resultsArray));
if (!MLArucoTracker.DidNativeCallSucceed(resultCode))
{
trackerResultsArray = new MLArucoTrackerResultNative[0];
return(resultCode);
}
trackerResultsArray = new MLArucoTrackerResultNative[resultsArray.Count];
for (int i = 0; i < resultsArray.Count; i++)
{
IntPtr offsetPtr = Marshal.ReadIntPtr(new IntPtr(resultsArray.Detections.ToInt64() + (Marshal.SizeOf(typeof(IntPtr)) * i)));
MLArucoTrackerResultNative trackerResult = (MLArucoTrackerResultNative)Marshal.PtrToStructure(offsetPtr, typeof(MLArucoTrackerResultNative));
trackerResultsArray[i] = trackerResult;
}
resultCode = NativeBindings.MLArucoTrackerReleaseResult(ref resultsArray);
foreach (NativeBindings.MLArucoTrackerResultNative trackerResult in trackerResultsArray)
{
if (!NativeBindings.MapTrackerResults.ContainsKey(trackerResult.Id))
{
NativeBindings.MapTrackerResults.Add(trackerResult.Id, trackerResult);
}
}
if (!MLArucoTracker.DidNativeCallSucceed(resultCode))
{
return(resultCode);
}
return(resultCode);
}
