private static void OnFrameCapture(ref FrameCaptureInfoNative info)
{
OutputNative output = Marshal.PtrToStructure <OutputNative>(info.OutputPtr);
ulong id = info.Id;
ulong timeStamp = info.TimeStamp;
bool marshalFrameData = MLMRCamera.OnFrameCapture != null;
MLMRCamera.Frame.ImagePlane[] imagePlanes = new MLMRCamera.Frame.ImagePlane[(uint)output.ImagePlanesCount];
for (int i = 0; i < output.ImagePlanesCount; ++i)
{
ImagePlaneInfoNative planeNative = output.ImagePlanes[i];
if (byteArraysBuffers.Count <= i && marshalFrameData)
{
byteArraysBuffers.Add(CircularBuffer <byte[]> .Create(new byte[planeNative.Size], new byte[planeNative.Size], new byte[planeNative.Size]));
}
imagePlanes[i] = MLMRCamera.Frame.ImagePlane.Create(planeNative.Width, planeNative.Height, planeNative.Stride, planeNative.BytesPerPixel, planeNative.Size, planeNative.Data, (marshalFrameData) ? byteArraysBuffers[i].Get() : null);
}
MLMRCamera.Frame frame = MLMRCamera.Frame.Create(id, timeStamp, imagePlanes, output.Format);
OnFrameCapture_NativeCallbackThread?.Invoke(frame);
MLThreadDispatch.ScheduleMain(() =>
{
MLMRCamera.OnFrameCapture?.Invoke(frame);
});
}
/// <summary>
/// Request the list of detected found objects.
/// Callback will never be called while request is still pending.
/// </summary>
/// <param name="queryFilter">Filter used to customize query results.</param>
/// <param name="callback">
/// Callback used to report query results.
/// Callback MLResult code will never be <c>MLResult.Code.Pending</c>.
/// </param>
/// <returns>
/// MLResult.Result inside callback will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result inside callback will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result inside callback will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
public static MLResult GetObjectsAsync(Query.Filter queryFilter, QueryResultsDelegate callback)
{
if (MLFoundObjects.IsValidInstance())
{
// Don't allow null callbacks to be registered.
if (callback == null)
{
MLPluginLog.Error("MLFoundObjects.GetObjects failed. Reason: Passed input callback is null.");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
MLThreadDispatch.ScheduleWork(() =>
{
_instance.BeginObjectQueryAsync(queryFilter, callback);
return(true);
});
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.GetObjects failed. Reason: No Instance for MLFoundObjects");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObjects.GetFoundObjects failed. Reason: No Instance for MLFoundObjects"));
}
}
/// <summary>
/// Callback sent to all game objects when the player pauses.
/// </summary>
/// <param name="pauseStatus">The pause state of the application.</param>
private void OnApplicationPause(bool pauseStatus)
{
this.OnPauseEvent?.Invoke(pauseStatus);
if (pauseStatus)
{
// Flush the pending queue on app pause otherwise these events wont reach
// the subscribers until after the app has been resumed.
MLThreadDispatch.DispatchAll();
}
}
private static void OnError(MLResult.Code resultCode, IntPtr data)
{
MLThreadDispatch.ScheduleMain(() =>
{
if (MLMRCamera.IsStarted)
{
MLMRCamera.OnError?.Invoke(MLResult.Create(resultCode));
}
});
}
/// <summary>
/// Request the list of detected found objects.
/// Callback will never be called while request is still pending.
/// </summary>
/// <param name="callback">
/// Callback used to report query results.
/// Callback MLResult code will never be <c>MLResult.Code.Pending</c>.
/// </param>
/// <returns>
/// MLResult.Result inside callback will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result inside callback will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result inside callback will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
public static MLResult GetUniqueObjectLabelsAsync(OnGetUniqueObjectLabelsDelegate callback)
{
MLThreadDispatch.ScheduleWork(() =>
{
string[] labels;
MLResult result = MLResult.Create(MLResult.Code.Ok);
if (MLFoundObjects.IsValidInstance())
{
MLResult.Code resultCode = NativeBindings.MLFoundObjectGetAvailableLabelsCount(_instance.handle, out uint labelCount);
result = MLResult.Create(resultCode);
labels = new string[labelCount];
if (MLResult.IsOK(resultCode))
{
for (uint i = 0; i < labelCount; ++i)
{
resultCode = NativeBindings.MLFoundObjectGetUniqueLabel(_instance.handle, i, 20, out string label);
if (MLResult.IsOK(resultCode))
{
labels[i] = label;
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.GetUniqueObjectLabels failed getting a unique label. Reason: {0}", MLResult.CodeToString(resultCode));
result = MLResult.Create(MLResult.Code.UnspecifiedFailure, string.Format("MLFoundObjects.GetUniqueObjectLabels failed getting a unique label. Reason: {0}", MLResult.CodeToString(resultCode)));
}
}
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.GetUniqueObjectLabels failed getting the unique label count. Reason: {0}", MLResult.CodeToString(resultCode));
result = MLResult.Create(MLResult.Code.UnspecifiedFailure, string.Format("MLFoundObjects.GetUniqueObjectLabels failed getting the unique label count. Reason: {0}", MLResult.CodeToString(resultCode)));
}
}
else
{
labels = new string[0];
MLPluginLog.ErrorFormat("MLFoundObjects.GetUniqueObjectLabelsAsync failed. Reason: No Instance for MLFoundObjects.");
result = MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObjects.GetUniqueObjectLabelsAsync failed. Reason: No Instance for MLFoundObjects");
}
MLThreadDispatch.ScheduleMain(() =>
{
callback?.Invoke(result, labels);
});
return(true);
});
return(MLResult.Create(MLResult.Code.Ok));
}
/// <summary>
/// Calls OnUpdateActions event and dispatches all queued callbacks.
/// </summary>
protected override void Update()
{
base.Update();
if (!this.isReady && !(this.isReady = MLDevice.IsReady()))
{
return;
}
this.OnUpdateEvent?.Invoke();
MLThreadDispatch.DispatchAll();
}
private static void OAuthOnReplyNative(ref NativeBindings.OAuthResponseNative response)
{
NativeBindings.OAuthResponseNative newResponse = response;
int contextHash = newResponse.Context.ToInt32();
if (oAuthCallbacks.TryGetValue(contextHash, out OAuthPair currentPair))
{
MLThreadDispatch.Call(response.Response, currentPair.Schema, currentPair.Callback);
return;
}
MLPluginLog.ErrorFormat("MLDispatch OAuth callback received with no context");
}
private static void OnCaptureComplete(IntPtr data)
{
if (MLMRCamera.IsStarted)
{
// Atomic operation, so setting outside main thread should be fine.
Instance.isCapturing = false;
}
MLThreadDispatch.ScheduleMain(() =>
{
if (MLMRCamera.IsStarted)
{
MLMRCamera.OnCaptureComplete?.Invoke();
}
});
}
/// <summary>
/// Updates the settings of the found objects tracker.
/// </summary>
/// <param name="newSettings">The new settings to update the found objects tracker with.</param>
/// <param name="callback">The callback to invoke when the settings have been updated or failed doing so.</param>
/// <returns>
/// MLResult.Result inside callback will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result inside callback will be <c>MLResult.Code.InvalidParam</c> if failed due to invalid input parameter.
/// MLResult.Result inside callback will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
public static MLResult UpdateSettingsAsync(Settings newSettings, OnUpdateSettingsDelegate callback = null)
{
MLResult result = MLResult.Create(MLResult.Code.Ok);
MLThreadDispatch.ScheduleWork(() =>
{
if (MLFoundObjects.IsValidInstance())
{
NativeBindings.Settings settingsNative = new NativeBindings.Settings();
settingsNative.Data = newSettings;
MLResult.Code resultCode = NativeBindings.MLFoundObjectTrackerUpdateSettings(_instance.handle, in settingsNative);
if (MLResult.IsOK(resultCode))
{
MLThreadDispatch.ScheduleMain(() =>
{
result = MLResult.Create(resultCode);
_instance.settings = newSettings;
callback?.Invoke(result, _instance.settings);
});
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.UpdateSettingsAsync failed to update settings. Reason: {0}", MLResult.CodeToString(resultCode));
result = MLResult.Create(MLResult.Code.UnspecifiedFailure, string.Format("MLFoundObjects.UpdateSettingsAsync failed to update settings. Reason: {0}", MLResult.CodeToString(resultCode)));
MLThreadDispatch.ScheduleMain(() =>
{
callback?.Invoke(result, _instance.settings);
});
}
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.GetObjects failed. Reason: No Instance for MLFoundObjects");
result = MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLFoundObjects.GetFoundObjects failed. Reason: No Instance for MLFoundObjects");
MLThreadDispatch.ScheduleMain(() =>
{
callback?.Invoke(result, _instance.settings);
});
}
return(true);
});
return(result);
}
/// <summary>
/// Requests a ray cast with the given query parameters.
/// </summary>
/// <param name="query">Query parameters describing ray being cast.</param>
/// <param name="callback">Delegate which will be called when the result of the ray cast is ready.</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>
public static MLResult Raycast(QueryParams query, OnRaycastResultDelegate callback)
{
try
{
if (MLRaycast.IsValidInstance())
{
if (query == null || callback == null)
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: Invalid input parameters.");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
bool RequestRaycast()
{
if (MLRaycast.IsValidInstance())
{
NativeBindings.MLRaycastQueryNative queryNative = new NativeBindings.MLRaycastQueryNative()
{
Position = MLConvert.FromUnity(query.Position),
Direction = MLConvert.FromUnity(query.Direction, true, false),
UpVector = MLConvert.FromUnity(query.UpVector, true, false),
Width = query.Width,
Height = query.Height,
HorizontalFovDegrees = query.HorizontalFovDegrees,
CollideWithUnobserved = query.CollideWithUnobserved,
};
ulong requestHandle = MagicLeapNativeBindings.InvalidHandle;
MLResult.Code resultCode = NativeBindings.MLRaycastRequest(_instance.trackerHandle, ref queryNative, ref requestHandle);
if (resultCode != MLResult.Code.Ok)
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed to request a new ray cast. Reason: {0}", MLResult.CodeToString(resultCode));
return(true);
}
if (requestHandle == MagicLeapNativeBindings.InvalidHandle)
{
MLPluginLog.Error("MLRaycast.Raycast failed to request a new ray cast. Reason: Request handle is invalid.");
return(true);
}
bool GetRaycastResults()
{
if (MLRaycast.IsValidInstance())
{
NativeBindings.MLRaycastResultNative raycastResult = NativeBindings.MLRaycastResultNative.Create();
resultCode = NativeBindings.MLRaycastGetResult(_instance.trackerHandle, requestHandle, ref raycastResult);
if (resultCode == MLResult.Code.Pending)
{
return(false);
}
if (resultCode == MLResult.Code.Ok)
{
// Check if there is a valid hit result.
bool didHit = raycastResult.State != ResultState.RequestFailed && raycastResult.State != ResultState.NoCollision;
MLThreadDispatch.ScheduleMain(() =>
{
if (MLRaycast.IsValidInstance())
{
callback(
raycastResult.State,
didHit ? MLConvert.ToUnity(raycastResult.Hitpoint) : Vector3.zero,
didHit ? MLConvert.ToUnity(raycastResult.Normal, true, false) : Vector3.zero,
raycastResult.Confidence);
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: No Instance for MLRaycast");
}
});
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed to get raycast result. Reason: {0}", MLResult.CodeToString(resultCode));
}
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: No Instance for MLRaycast");
}
return(true);
}
MLThreadDispatch.ScheduleWork(GetRaycastResults);
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: No Instance for MLRaycast");
}
return(true);
}
MLThreadDispatch.ScheduleWork(RequestRaycast);
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLRaycast.Raycast failed. Reason: No Instance for MLRaycast");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLRaycast.Raycast failed. Reason: No Instance for MLRaycast"));
}
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLRaycast.Raycast failed. Reason: API symbols not found");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLRaycast.Raycast failed. Reason: API symbols not found"));
}
}
/// <summary>
/// Begin querying for planes.
/// </summary>
/// <param name="queryParams">All values are required, omitting values may result in unexpected behavior.</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 BeginPlaneQuery(QueryParams queryParams, QueryResultsDelegate callback)
{
try
{
if (!NativeBindings.MLHandleIsValid(_instance.planesTracker))
{
MLPluginLog.Error("MLPlanes.BeginPlaneQuery failed to request planes. Reason: Tracker handle is invalid");
return(MLResult.Create(MLResult.Code.InvalidParam));
}
bool BeginQuery()
{
if (MLPlanes.IsValidInstance())
{
NativeBindings.QueryParamsNative planeQuery = new NativeBindings.QueryParamsNative()
{
Data = queryParams
};
ulong queryHandle = MagicLeapNativeBindings.InvalidHandle;
MLResult.Code resultCode = NativeBindings.MLPlanesQueryBegin(_instance.planesTracker, ref planeQuery, ref queryHandle);
if (resultCode != MLResult.Code.Ok)
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to request planes. Reason: {0}", MLResult.CodeToString(resultCode));
return(true);
}
// Create query object to prepresent this newly registered plane query.
NativeBindings.Query query = new NativeBindings.Query((QueryResultsDelegate)callback, planeQuery.MaxResults, _instance.IsRequestingBoundaries(planeQuery.Flags));
bool GetPlanesResults()
{
if (MLPlanes.IsValidInstance())
{
// Request the update.
resultCode = NativeBindings.MLPlanesQueryGetResultsWithBoundaries(_instance.planesTracker, queryHandle, query.PlanesResultsUnmanaged, out uint numResults, ref query.PlaneBoundariesList);
if (resultCode == MLResult.Code.Pending)
{
return(false);
}
if (resultCode == MLResult.Code.Ok)
{
query.ExtractPlanesFromQueryResults(numResults);
resultCode = NativeBindings.MLPlanesReleaseBoundariesList(_instance.planesTracker, ref query.PlaneBoundariesList);
if (resultCode == MLResult.Code.Ok)
{
query.Result = MLResult.Create(resultCode);
if (query.Planes == null)
{
query.Planes = new Plane[] { };
}
if (query.PlaneBoundaries == null)
{
query.PlaneBoundaries = new Boundaries[] { };
}
MLThreadDispatch.ScheduleMain(() =>
{
if (MLPlanes.IsValidInstance())
{
callback(query.Result, query.Planes, query.PlaneBoundaries);
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed. Reason: No Instance for MLPlanes");
}
});
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to release boundaries list. Reason: {0}", MLResult.CodeToString(resultCode));
}
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed to query planes. Reason: {0}", MLResult.CodeToString(resultCode));
}
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed. Reason: No Instance for MLPlanes");
}
return(true);
}
MLThreadDispatch.ScheduleWork(GetPlanesResults);
}
else
{
MLPluginLog.ErrorFormat("MLPlanes.BeginPlaneQuery failed. Reason: No Instance for MLPlanes");
}
return(true);
}
MLThreadDispatch.ScheduleWork(BeginQuery);
return(MLResult.Create(MLResult.Code.Ok));
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLPlanes.BeginPlaneQuery failed. Reason: API symbols not found");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPlanes.BeginPlaneQuery failed. Reason: API symbols not found"));
}
}
/// <summary>
/// Process pending requests and call the callback specified in the startup config.
/// </summary>
private void ProcessPendingQueriesAsync()
{
MLThreadDispatch.ScheduleWork(() =>
{
try
{
if (_instance.pendingQueries.Count > 0)
{
// Process each individual pending query to get updated status.
foreach (ulong handle in _instance.pendingQueries.Keys)
{
// Request the update.
MLResult.Code resultCode = NativeBindings.MLFoundObjectGetResultCount(_instance.handle, handle, out uint resultCount);
if (MLResult.IsOK(resultCode))
{
FoundObject[] foundObjects = new FoundObject[resultCount];
// For each found object in the query, get it's reference and property values from the API.
for (uint objectIndex = 0; objectIndex < resultCount; objectIndex++)
{
NativeBindings.FoundObjectNative nativeFoundObject = new NativeBindings.FoundObjectNative();
// Get the object reference from the API.
resultCode = NativeBindings.MLFoundObjectGetResult(_instance.handle, handle, objectIndex, ref nativeFoundObject);
if (MLResult.IsOK(resultCode))
{
Dictionary <string, string> properties = new Dictionary <string, string>();
// Get the object's properties from the API.
if (nativeFoundObject.PropertyCount > 0)
{
NativeBindings.PropertyNative objectProperty = new NativeBindings.PropertyNative();
for (uint propertyIndex = 0; propertyIndex < nativeFoundObject.PropertyCount; propertyIndex++)
{
resultCode = NativeBindings.MLFoundObjectGetProperty(_instance.handle, nativeFoundObject.Id, propertyIndex, ref objectProperty);
if (MLResult.IsOK(resultCode))
{
properties.Add(new string(objectProperty.Key).Replace("\0", string.Empty).ToLower(), new string(objectProperty.Value).Replace("\0", string.Empty));
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.ProcessPendingQueries failed to get found object property. Reason: {0}", MLResult.CodeToString(resultCode));
}
}
}
FoundObject foundObject = nativeFoundObject.Data;
// Currently the only valid object properties are: label, score
foundObject.Label = properties.ContainsKey("label") ? properties["label"] : string.Empty;
foundObject.Confidence = properties.ContainsKey("score") ? Convert.ToSingle(properties["score"]) : 0f;
foundObjects[objectIndex] = foundObject;
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.ProcessPendingQueries failed to get found object. Reason: {0}", MLResult.CodeToString(resultCode));
_instance.errorQueries.Add(handle);
}
}
if (!_instance.completedQueries.Contains(handle))
{
_instance.completedQueries.Add(handle);
}
Query query = _instance.pendingQueries[handle];
// Dispatch list of found objects back to main.
MLThreadDispatch.ScheduleMain(() =>
{
query.Callback(MLResult.Create(resultCode), foundObjects);
});
}
else
{
MLPluginLog.ErrorFormat("MLFoundObjects.ProcessPendingQueries failed to query found objects. Reason: {0}", MLResult.CodeToString(resultCode));
_instance.errorQueries.Add(handle);
}
}
foreach (ulong handle in _instance.errorQueries)
{
_instance.pendingQueries.TryRemove(handle, out Query q);
}
_instance.errorQueries.Clear();
foreach (ulong handle in _instance.completedQueries)
{
_instance.pendingQueries.TryRemove(handle, out Query q);
}
_instance.completedQueries.Clear();
}
}
catch (System.EntryPointNotFoundException)
{
MLPluginLog.Error("MLFoundObjects.ProcessPendingQueries failed. Reason: API symbols not found");
}
return(true);
});
}
private static void HandleOnMLAudioSetMicMuteCallback([MarshalAs(UnmanagedType.I1)] bool isMuted, IntPtr callback)
{
Instance.isMicrophoneMuted = isMuted;
MLThreadDispatch.Call(isMuted, OnMicrophoneMuteChanged);
}
private static void HandleOnMLAudioSetMasterVolumeCallback(float volume, IntPtr callback)
{
Instance.masterVolume = volume;
MLThreadDispatch.Call(volume, OnMasterVolumeChanged);
}
/// <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="callback">Delegate used to return the resulting MLResult.Result and list of found 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.UnspecifiedFailure</c> if failed due to no API instance being found.
/// </returns>
public static MLResult FindPCFsByFilter(QueryFilter queryFilter, OnFoundMultiPCFDelegate callback, bool update = true)
{
List <PCF> pcfList = new List <PCF>();
if (MLPersistentCoordinateFrames.IsValidInstance())
{
NativeBindings.QueryFilterNative queryFilterNative = NativeBindings.QueryFilterNative.Create();
queryFilterNative.Data = queryFilter;
MLThreadDispatch.ScheduleWork(() =>
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
try
{
uint numPCFs = 0;
MLResult.Code resultCode = NativeBindings.MLPersistentCoordinateFrameGetCount(MLPersistentCoordinateFrames._instance.nativeTracker, ref numPCFs);
MagicLeapNativeBindings.MLCoordinateFrameUID[] cfuidArray = new MagicLeapNativeBindings.MLCoordinateFrameUID[numPCFs];
if (MLResult.IsOK(resultCode) && numPCFs > 0)
{
//// With these conditions the user is asking for all PCFs, no need to use the slower thised 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);
}
else
{
resultCode = NativeBindings.MLPersistentCoordinateFrameQuery(_instance.nativeTracker, in queryFilterNative, cfuidArray, out uint cfuidCount);
}
if (!MLResult.IsOK(resultCode))
{
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(false);
}
}
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(false);
}
MLThreadDispatch.ScheduleMain(() =>
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
if (MLResult.IsOK(resultCode) && MLPersistentCoordinateFrames.IsLocalized)
{
for (int i = 0; i < cfuidArray.Length; ++i)
{
MagicLeapNativeBindings.MLCoordinateFrameUID pcfCFUID = cfuidArray[i];
if (!pcfCFUID.Equals(MagicLeapNativeBindings.MLCoordinateFrameUID.EmptyFrame))
{
PCF pcf = null;
if (_instance.mapAllPCFs.ContainsKey(pcfCFUID))
{
pcf = _instance.mapAllPCFs[pcfCFUID];
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);
}
}
}
else
{
pcf = new PCF(pcfCFUID);
_instance.mapAllPCFs.Add(pcfCFUID, pcf);
pcf.Update();
}
pcfList.Add(pcf);
}
}
}
callback?.Invoke(resultCode, pcfList);
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: No Instance for MLPersistentCoordinateFrames.");
}
});
return(true);
}
catch (EntryPointNotFoundException)
{
MLPluginLog.Error("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: API symbols not found.");
callback?.Invoke(MLResult.Code.UnspecifiedFailure, pcfList);
return(true);
}
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: No Instance for MLPersistentCoordinateFrames.");
callback?.Invoke(MLResult.Code.UnspecifiedFailure, pcfList);
return(true);
}
});
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: No Instance for MLPersistentCoordinateFrames.");
callback?.Invoke(MLResult.Code.UnspecifiedFailure, pcfList);
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindPCFsByFilter failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
