Inherits MonoBehaviour.

Inherited by Visometry.VisionLib.SDK.Core.SynchronousTrackingManager.

Data Structures
class	WorkerNotFoundException

Public Types
enum class	ImageStream { None , CameraImage , DebugImage }

Public Member Functions
bool	AddCameraCalibrationDB (string uri)
	Adds the camera calibration DataBase using the URI. It will not be loaded at this point but only the possibility to add it will be checked. The loading of the actual database happens when starting the tracking pipe! More...

delegate void	CalibratedImageAction (CalibratedImage calibratedImage)
	Delegate for OnCalibratedImage events. More...

delegate void	ExtrinsicDataAction (ExtrinsicData extrinsicData)
	Delegate for OnExtrinsicData events. More...

DeviceInfo	GetDeviceInfo ()
	Returns the device info, when the worker object has been initialized. You can call this function in order to get useful system information before starting the tracking pipe You might use this structure for retrieving the available cameras in the system. More...

string	GetDeviceType ()
	Returns the type of the loaded device pipeline. Works for tracking configurations loaded from a vl-file or vl-string. More...

LicenseInformation	GetLicenseInformation ()

Texture2D	GetStreamTexture (ImageStream streamType)

bool	GetTrackerInitialized ()

string	GetTrackerType ()
	Returns the type of the loaded tracking pipeline. Works for tracking configurations loaded from a vl-file or vl-string. More...

bool	GetTrackerType (out string trackerType)
	Returns the type of the loaded tracking pipeline. Works for tracking configurations loaded from a vl-file or vl-string. More...

bool	GetTrackingRunning ()

Worker	GetWorker ()
	Returns the owned Worker object. More...

delegate void	ImageAction (Image image)
	Delegate for OnImage events. More...

delegate void	IntrinsicDataAction (IntrinsicData intrinsicData)
	Delegate for OnIntrinsicData events. More...

delegate void	IssueTriggeredAction (Issue issue)
	Delegate for OnIssueTriggered events. More...

void	PauseTracking ()
	Pause the tracking.

delegate void	PerformanceInfoAction (PerformanceInfo state)
	Delegate for OnPerformanceInfo events. More...

void	ResetTrackingHard ()
	Reset the tracking and all key frames. More...

void	ResetTrackingSoft ()
	Reset the tracking. More...

void	ResumeTracking ()
	Resume the tracking.

void	SetFPS (int newFPS)
	Sets the frame rate of the tracking algorithm. This might limit the performance consumed by VisionLib. More...

async Task	SetFPSAsync (int newFPS)
	Sets target number of frames per second for the tracking thread.

void	SetWaitForEvents (bool wait)
	Set waitForEvents to the given value. More...

virtual void	StartTracking (string filename)
	Start the tracking using a vl-file. More...

void	StartTrackingFromString (string trackingConfig, string projectDir, string overrideParameter=null)
	Start the tracking using a tracking configuration as string. More...

virtual void	StopTracking ()
	Stop the tracking (releases all tracking resources).

delegate void	TrackingStatesAction (TrackingState state)
	Delegate for OnTrackingStates events. More...

Static Public Member Functions
static EventWrapper< SimilarityTransform >	AnchorTransform (string anchorName)

static async void	CatchCommandErrors (Task task, MonoBehaviour caller=null)
	This function should be used when awaiting a Task created anywhere within the vlUnitySDK. It will await the Task while treating all VisionLib specific errors which might arise from calling a command. Using this function also preserves the call stack, so you will still be able to identify the function which causes the logged error. More...

static void	EmitEvents (Frame frame)

static void	InvokeOnTrackerResetHard ()

static void	InvokeOnTrackerResetSoft ()

Data Fields
string	calibrationDataBaseURI

LicenseFile	licenseFile
	Path of the license file.

VLSDK.LogLevel	logLevel = VLSDK.LogLevel.Warning
	VisionLib log level. More...

int	targetFPS = 30
	Target number of frames per second for the tracking thread. More...

bool	waitForEvents = false
	Whether to wait for tracking events. More...

Protected Member Functions
void	CreateLogger ()

virtual void	CreateWorker ()

virtual void	OnDestroy ()

virtual void	RegisterListeners ()

virtual void	RegisterTrackerListeners ()

virtual void	UnregisterListeners ()

virtual void	UnregisterTrackerListeners ()

virtual void	Update ()

virtual void	UpdateAnchorTransformListeners ()

Protected Attributes
Worker	worker = null

object	workerLock = new object()

Properties
Worker	Worker `[get]`

Events
static CalibratedImageAction	OnCalibratedDepthImage
	Event with the current calibrated depth image. This Event will be emitted for each tracking frame.

static ExtrinsicDataAction	OnCameraTransform
	Event with the current extrinsic data slam. This Event will be emitted for each tracking frame.

static ImageAction	OnDebugImage
	Event with the current debug image. This Event will be emitted for each tracking frame, if debugLevel is at least 1

static ExtrinsicDataAction	OnExtrinsicData
	Event with the current extrinsic data. This Event will be emitted for each tracking frame.

static ImageAction	OnImage
	Event with the current tracking image. This Event will be emitted for each tracking frame.

static IntrinsicDataAction	OnIntrinsicData
	Event with the current intrinsic data. This Event will be emitted for each tracking frame.

static IssueTriggeredAction	OnIssueTriggered
	Event which will be emitted if an Issue was triggered

static PerformanceInfoAction	OnPerformanceInfo
	Event with the current tracking performance. This Event will be emitted for each tracking frame.

static VLSDK.VoidDelegate	OnTrackerInitialized
	Event which will be emitted after the tracking configuration was loaded.

static VLSDK.VoidDelegate	OnTrackerInitializing
	Event which will be emitted once after calling the StartTracking function.

static VLSDK.VoidDelegate	OnTrackerPaused
	Event which will be emitted after the tracking was paused.

static VLSDK.VoidDelegate	OnTrackerResetHard
	Event which will be emitted after a hard reset was executed.

static VLSDK.VoidDelegate	OnTrackerResetSoft
	Event which will be emitted after a soft reset was executed.

static VLSDK.VoidDelegate	OnTrackerRunning
	Event which will be emitted once after the tracking was stopped or paused and is now running again.

static VLSDK.VoidDelegate	OnTrackerStopped
	Event which will be emitted after the tracking was stopped or the initialization of the tracker has failed.

static TrackingStatesAction	OnTrackingStates
	Event with the current tracking state of all tracked objects. This Event will be emitted for each tracking frame.

static VLSDK.VoidDelegate	OnWorkerCreated
	Event which will be emitted once after the worker has been created.

Member Function Documentation

◆ AddCameraCalibrationDB()

bool Visometry.VisionLib.SDK.Core.TrackingManager.AddCameraCalibrationDB ( string uri )

inline

Adds the camera calibration DataBase using the URI. It will not be loaded at this point but only the possibility to add it will be checked. The loading of the actual database happens when starting the tracking pipe!

Returns: true, if camera calibration DB was added, false otherwise.

Parameters

uri	URI pointing to the camera calibration to be merged.

◆ CalibratedImageAction()

delegate void Visometry.VisionLib.SDK.Core.TrackingManager.CalibratedImageAction ( CalibratedImage calibratedImage )

Delegate for OnCalibratedImage events.

Parameters

calibratedImage CalibratedImage.

◆ CatchCommandErrors()

static async void Visometry.VisionLib.SDK.Core.TrackingManager.CatchCommandErrors	(	Task	task,
		MonoBehaviour	caller = `null`
	)

inlinestatic

This function should be used when awaiting a Task created anywhere within the vlUnitySDK. It will await the Task while treating all VisionLib specific errors which might arise from calling a command. Using this function also preserves the call stack, so you will still be able to identify the function which causes the logged error.

Parameters

task	Task which should be awaited.
caller	MonoBehaviour which should be referenced, when selecting error message in the log.

◆ ExtrinsicDataAction()

delegate void Visometry.VisionLib.SDK.Core.TrackingManager.ExtrinsicDataAction ( ExtrinsicData extrinsicData )

Delegate for OnExtrinsicData events.

Parameters

extrinsicData ExtrinsicData.

◆ GetDeviceInfo()

DeviceInfo Visometry.VisionLib.SDK.Core.TrackingManager.GetDeviceInfo ( )

inline

Returns the device info, when the worker object has been initialized. You can call this function in order to get useful system information before starting the tracking pipe You might use this structure for retrieving the available cameras in the system.

Returns: The device info object or null.

◆ GetDeviceType()

string Visometry.VisionLib.SDK.Core.TrackingManager.GetDeviceType ( )

inline

Returns the type of the loaded device pipeline. Works for tracking configurations loaded from a vl-file or vl-string.

Returns: loaded device type

◆ GetTrackerType() [1/2]

string Visometry.VisionLib.SDK.Core.TrackingManager.GetTrackerType ( )

inline

Returns the type of the loaded tracking pipeline. Works for tracking configurations loaded from a vl-file or vl-string.

Returns: loaded tracker type

◆ GetTrackerType() [2/2]

bool Visometry.VisionLib.SDK.Core.TrackingManager.GetTrackerType ( out string trackerType )

inline

Returns the type of the loaded tracking pipeline. Works for tracking configurations loaded from a vl-file or vl-string.

Parameters

trackerType loaded tracker type

Returns: returns true on success; false otherwise.

◆ GetWorker()

Worker Visometry.VisionLib.SDK.Core.TrackingManager.GetWorker ( )

inline

Returns the owned Worker object.

Returns: Worker object or null, if the Worker wasn't initialized yet.

◆ ImageAction()

delegate void Visometry.VisionLib.SDK.Core.TrackingManager.ImageAction ( Image image )

Delegate for OnImage events.

Parameters

image Image.

◆ IntrinsicDataAction()

delegate void Visometry.VisionLib.SDK.Core.TrackingManager.IntrinsicDataAction ( IntrinsicData intrinsicData )

Delegate for OnIntrinsicData events.

Parameters

intrinsicData IntrinsicData.

◆ IssueTriggeredAction()

delegate void Visometry.VisionLib.SDK.Core.TrackingManager.IssueTriggeredAction ( Issue issue )

Delegate for OnIssueTriggered events.

Parameters

issue Issue

◆ PerformanceInfoAction()

delegate void Visometry.VisionLib.SDK.Core.TrackingManager.PerformanceInfoAction ( PerformanceInfo state )

Delegate for OnPerformanceInfo events.

Parameters

state PerformanceInfo with information about the performance.

◆ ResetTrackingHard()

void Visometry.VisionLib.SDK.Core.TrackingManager.ResetTrackingHard ( )

inline

Reset the tracking and all key frames.

This function will be performed asynchronously.

◆ ResetTrackingSoft()

void Visometry.VisionLib.SDK.Core.TrackingManager.ResetTrackingSoft ( )

inline

Reset the tracking.

This function will be performed asynchronously.

◆ SetFPS()

void Visometry.VisionLib.SDK.Core.TrackingManager.SetFPS ( int newFPS )

inline

Sets the frame rate of the tracking algorithm. This might limit the performance consumed by VisionLib.

This function will be performed asynchronously.

Parameters

newFPS Number of frames per second

◆ SetWaitForEvents()

void Visometry.VisionLib.SDK.Core.TrackingManager.SetWaitForEvents ( bool wait )

inline

Set waitForEvents to the given value.

See waitForEvents for further information.

◆ StartTracking()

virtual void Visometry.VisionLib.SDK.Core.TrackingManager.StartTracking ( string filename )

inlinevirtual

Start the tracking using a vl-file.

The type of the tracker will be derived from the vl-file.

Reimplemented in Visometry.VisionLib.SDK.Core.SynchronousTrackingManager.

◆ StartTrackingFromString()

void Visometry.VisionLib.SDK.Core.TrackingManager.StartTrackingFromString	(	string	trackingConfig,
		string	projectDir,
		string	overrideParameter = `null`
	)

inline

Start the tracking using a tracking configuration as string.

Parameters

trackingConfig	Tracking configuration as string
projectDir	Directory
overrideParameter

◆ TrackingStatesAction()

delegate void Visometry.VisionLib.SDK.Core.TrackingManager.TrackingStatesAction ( TrackingState state )

Delegate for OnTrackingStates events.

Parameters

state TrackingState with information about the currently tracked objects.

Field Documentation

◆ logLevel

VLSDK.LogLevel Visometry.VisionLib.SDK.Core.TrackingManager.logLevel = VLSDK.LogLevel.Warning

VisionLib log level.

Available log levels:

0: Mute
1: Fatal
2: Warning
3: Notice
4: Info
5: Debug

Log level N will disable all log messages with a level > N.

◆ targetFPS

int Visometry.VisionLib.SDK.Core.TrackingManager.targetFPS = 30

Target number of frames per second for the tracking thread.

The tracking will run as fast as possible, if the value is zero or less.

Higher values will result in a smoother tracking experience, but the battery will be drained faster.

◆ waitForEvents

bool Visometry.VisionLib.SDK.Core.TrackingManager.waitForEvents = false

Whether to wait for tracking events.

If true, the Update member function will wait until there is at least one tracking event. This will limit the speed of the Unity update cycler to the speed of the tracking, but the tracking will feel more smooth, because the camera image will be shown with less delay.

If false, the speed of the tracking and the Unity update cycle are largely separate. Due to the out of sync update rates, the camera might be shown with a slight delay.

documentation

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Data Fields

Protected Member Functions

Protected Attributes

Properties

Events

Member Function Documentation

◆ AddCameraCalibrationDB()

◆ CalibratedImageAction()

◆ CatchCommandErrors()

◆ ExtrinsicDataAction()

◆ GetDeviceInfo()

◆ GetDeviceType()

◆ GetTrackerType() [1/2]

◆ GetTrackerType() [2/2]

◆ GetWorker()

◆ ImageAction()

◆ IntrinsicDataAction()

◆ IssueTriggeredAction()

◆ PerformanceInfoAction()

◆ ResetTrackingHard()

◆ ResetTrackingSoft()

◆ SetFPS()

◆ SetWaitForEvents()

◆ StartTracking()

◆ StartTrackingFromString()

◆ TrackingStatesAction()

Field Documentation

◆ logLevel

◆ targetFPS

◆ waitForEvents