/// <summary>
/// Returns a list of all the PCFs of the types provided by the typesMask inside the current map.
/// </summary>
/// <param name="callback">Delegate used to return the resulting MLResult.Result and list of found PCFs.</param>
/// <param name="maxResults">The max number of PCFs to get.</param>
/// <param name="typesMask">The bitmask of which PCF types to consider.</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 FindAllPCFs(OnFoundMultiPCFDelegate callback, uint maxResults = int.MaxValue, PCF.Types typesMask = PCF.Types.SingleUserSingleSession | PCF.Types.SingleUserMultiSession | PCF.Types.MultiUserMultiSession, bool update = true)
{
if (MLPersistentCoordinateFrames.IsValidInstance())
{
QueryFilter queryFilter = QueryFilter.Create();
queryFilter.TypesMask = typesMask;
queryFilter.MaxResults = maxResults;
queryFilter.Sorted = false;
FindPCFsByFilter(queryFilter, callback, update);
return(MLResult.Create(MLResult.Code.Ok));
}
else
{
MLPluginLog.ErrorFormat("MLPersistentCoordinateFrames.FindAllPCFs failed. Reason: No Instance for MLPersistentCoordinateFrames.");
return(MLResult.Create(MLResult.Code.UnspecifiedFailure, "MLPersistentCoordinateFrames.FindAllPCFs failed. Reason: No Instance for MLPersistentCoordinateFrames."));
}
}
/// <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."));
}
}
