feat: add support for requesting relocalization information with a trackable UUID

server/worldstorage/src/ETSI.ARF.OpenAPI.WorldStorage/ETSI-ARF/ControllersImpl/RelocalizationInformationImpl.cs

@@ -55,6 +55,7 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
         public override IActionResult GetRelocalizationInformation([FromQuery(Name = "uuids")][Required()] List<GetRelocalizationInformationUuidsParameterInner> uuids, [FromQuery(Name = "capabilities")][Required()] List<Capability> capabilities, [FromHeader(Name = "token")] string token)
         {
             WorldAnchorService _worldAnchorService = WorldAnchorService.Singleton as WorldAnchorService;
+            TrackableService _trackableService = TrackableService.Singleton as TrackableService;
 
             var history = new List<Guid>();
             var result = new GetRelocalizationInformation200Response();
@@ -63,6 +64,13 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
             foreach (var request in uuids)
             {
                 var anchor = _worldAnchorService.Get(request.Uuid);
+                Trackable trackable = null;
+
+                if (anchor == null)
+                {
+                    // anchor not found, try to find uuid as a trackable
+                    trackable = _trackableService.Get(request.Uuid);
+                }
 
                 if (anchor != null)
                 {
@@ -77,6 +85,37 @@ namespace ETSI.ARF.OpenAPI.WorldStorage.Controllers
 
                     result.RelocInfo.Add(relocalizationInformation);
                 }
+                else if (trackable != null)
+                {
+                    history.Add(trackable.UUID);
+                    
+                    Matrix4x4 matrix = Matrix4x4.Identity;
+
+                    var relocalizationInformation = new RelocalizationInformation();
+                    relocalizationInformation.RequestUUID = trackable.UUID;
+                    relocalizationInformation.RequestType = TypeWorldStorage.TRACKABLEEnum;
+                    relocalizationInformation.RelocObjects = new List<RelocalizationInformationRelocObjectsInner>();
+
+                    if (trackable.Match(capabilities))
+                    {
+                        // add itself with matrix identity as Transform3D
+                        var itself = new RelocalizationInformationRelocObjectsInner();
+                        itself.Trackable = trackable;
+                        itself.Mode = request.Mode;
+                        itself.Transform3D = new List<float>()
+                        {
+                            matrix.M11, matrix.M12, matrix.M13, matrix.M14,
+                            matrix.M21, matrix.M22, matrix.M23, matrix.M24,
+                            matrix.M31, matrix.M32, matrix.M33, matrix.M34,
+                            matrix.M41, matrix.M42, matrix.M43, matrix.M44,
+                        };
+                        relocalizationInformation.RelocObjects.Add(itself);
+                    }
+
+                    relocalizationInformation.RelocObjects.AddRange(FindRelocInfo(trackable.UUID, request.Mode, matrix, capabilities, ref history));
+
+                    result.RelocInfo.Add(relocalizationInformation);
+                }
                 else
                 {
                     Console.WriteLine($"WorldAnchor with UUID {request.Uuid} does not exist in database");