Inherits MonoBehaviour.

Public Member Functions
bool	GetTrackingRunning ()

delegate void	TrackerInitializingAction ()
	Delegate for OnTrackerInitializing events. More...

delegate void	TrackerInitializedAction (bool success)
	Delegate for OnTrackerInitialized events. More...

delegate void	TrackerInitializedWithIssuesAction (VLTrackingIssues errors, VLTrackingIssues warnings)
	Delegate for OnTrackerInitializedWithIssues events. More...

delegate void	TrackerStoppedAction (bool success)
	Delegate for OnTrackerStopped events. More...

delegate void	TrackerRunningAction (bool success)
	Delegate for OnTrackerRunning events. More...

delegate void	TrackerRanOnceAction (bool success)
	Delegate for OnTrackerRanOnce events. More...

delegate void	TrackerPausedAction (bool success)
	Delegate for OnTrackerPaused events. More...

delegate void	TrackerResetAction (bool hard)
	Delegate for TrackedResetAction events. More...

delegate void	TrackerResetSoftAction (bool success)
	Delegate for OnTrackerResetSoft events. More...

delegate void	TrackerResetHardAction (bool success)
	Delegate for TrackerResetHardAction events. More...

delegate void	CalibrationDataAction (VLCameraCalibration result)

delegate void	TrackingStateAction (int state, string objectID)
	Delegate for OnTrackingState events. More...

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

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

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

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

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

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

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

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...

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

void	PauseTracking ()
	Pause the tracking. More...

void	ResumeTracking ()
	Resume the tracking. More...

void	RunTrackingOnce ()
	Runs the tracking once while the tracking is paused. More...

void	ResetTracking ()
	Resets the tracking pose to the initial pose. More...

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

void	ResetTrackingHard ()
	Reset the tracking and all keyframes. More...

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

VLDeviceInfo	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 retreiving the available cameras in the system. 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	SetCameraCalibrationState (string camCalibState)

bool	WriteCameraCalibration (string uri)

void	InjectFrame (VLFrame frame)

Data Fields
VLLicenseFile	licenseFile
	Path of the license file relative to StreamingAssets, e.g. license.xml. More...

string	calibrationDataBaseURI

bool	synchronousWorker = false

VLUnityCameraHelper.FlipCoordinateSystemHandedness	flipCoordinateSystemHandedness

string	baseDir
	Directory from which the tracking configuration files will be loaded. 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...

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

Events
static TrackerInitializingAction	OnTrackerInitializing
	Event which will be emitted once after calling the StartTracking function. More...

static TrackerInitializedAction	OnTrackerInitialized
	Event which will be emitted after the tracking configuration was loaded. More...

static TrackerInitializedWithIssuesAction	OnTrackerInitializedWithIssues
	Event which will be emitted after the tracking configuration was loaded. More...

static TrackerStoppedAction	OnTrackerStopped
	Event which will be emitted after the tracking was stopped. More...

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

static TrackerRanOnceAction	OnTrackerRanOnce
	Event which will be emitted once after the tracking was explicitly ran once. More...

static TrackerPausedAction	OnTrackerPaused
	Event which will be emitted after the tracking was paused. More...

static TrackerResetAction	OnTrackerReset
	(DEPRECATED) Event which will be emitted after a reset was executed. More...

static TrackerResetSoftAction	OnTrackerResetSoft
	Event which will be emitted after a soft reset was executed. More...

static TrackerResetHardAction	OnTrackerResetHard
	Event which will be emitted after a hard reset was executed. More...

static CalibrationDataAction	OnCameraCalibrationData

static TrackingStateAction	OnTrackingState
	Event with the current tracking state. This Event will be emitted for each tracking frame. More...

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

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

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

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

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

Member Function Documentation

◆ AddCameraCalibrationDB()

bool VLWorkerBehaviour.AddCameraCalibrationDB ( string uri )

inline

Adds the camera calibration DataBase using the URI. It will not be loaded at this point but only the addability 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.

◆ CalibrationDataAction()

delegate void VLWorkerBehaviour.CalibrationDataAction ( VLCameraCalibration result )

◆ ExtrinsicDataAction()

delegate void VLWorkerBehaviour.ExtrinsicDataAction ( VLExtrinsicDataWrapper extrinsicData )

Delegate for OnExtrinsicData events.

Parameters

extrinsicData VLExtrinsicDataWrapper.

◆ GetDeviceInfo()

VLDeviceInfo VLWorkerBehaviour.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 retreiving the available cameras in the system.

Returns: The device info object or null.

◆ GetTrackerType()

bool VLWorkerBehaviour.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.

◆ GetTrackingRunning()

bool VLWorkerBehaviour.GetTrackingRunning ( )

inline

◆ GetWorker()

VLWorker VLWorkerBehaviour.GetWorker ( )

inline

Returns the owned VLWorker object.

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

◆ ImageAction()

delegate void VLWorkerBehaviour.ImageAction ( VLImageWrapper image )

Delegate for OnImage events.

Parameters

image VLImageWrapper.

◆ InjectFrame()

void VLWorkerBehaviour.InjectFrame ( VLFrame frame )

inline

◆ IntrinsicDataAction()

delegate void VLWorkerBehaviour.IntrinsicDataAction ( VLIntrinsicDataWrapper intrinsicData )

Delegate for OnIntrinsicData events.

Parameters

intrinsicData VLIntrinsicDataWrapper.

◆ PauseTracking()

void VLWorkerBehaviour.PauseTracking ( )

inline

Pause the tracking.

◆ PerformanceInfoAction()

delegate void VLWorkerBehaviour.PerformanceInfoAction ( VLPerformanceInfo state )

Delegate for OnPerformanceInfo events.

Parameters

state VLPerformanceInfo with information about the performance.

◆ ResetTracking()

void VLWorkerBehaviour.ResetTracking ( )

inline

Resets the tracking pose to the initial pose.

NOTICE: Deprecated. Use ResetTrackingSoft or ResetTrackingHard instead.

◆ ResetTrackingHard()

void VLWorkerBehaviour.ResetTrackingHard ( )

inline

Reset the tracking and all keyframes.

◆ ResetTrackingSoft()

void VLWorkerBehaviour.ResetTrackingSoft ( )

inline

Reset the tracking.

◆ ResumeTracking()

void VLWorkerBehaviour.ResumeTracking ( )

inline

Resume the tracking.

◆ RunTrackingOnce()

void VLWorkerBehaviour.RunTrackingOnce ( )

inline

Runs the tracking once while the tracking is paused.

◆ SetCameraCalibrationState()

bool VLWorkerBehaviour.SetCameraCalibrationState ( string camCalibState )

inline

◆ SetWaitForEvents()

void VLWorkerBehaviour.SetWaitForEvents ( bool wait )

inline

Set waitForEvents to the given value.

See waitForEvents for further information.

◆ StartTracking()

void VLWorkerBehaviour.StartTracking ( string filename )

inline

Start the tracking using a vl-file.

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

◆ StartTrackingFromString()

void VLWorkerBehaviour.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

◆ StopTracking()

void VLWorkerBehaviour.StopTracking ( )

inline

Stop the tracking (releases all tracking resources).

◆ TrackerInitializedAction()

delegate void VLWorkerBehaviour.TrackerInitializedAction ( bool success )

Delegate for OnTrackerInitialized events.

Parameters

success true, if the tracking configuration was loaded successfully; false, otherwise.

◆ TrackerInitializedWithIssuesAction()

delegate void VLWorkerBehaviour.TrackerInitializedWithIssuesAction	(	VLTrackingIssues	errors,
		VLTrackingIssues	warnings
	)

Delegate for OnTrackerInitializedWithIssues events.

Parameters

errors	`null`, if the no warning was emitted `VLTrackingIssues`, as a list of VLTrackingIssue.
warnings	`null`, if the no warning was emitted `VLTrackingIssues`, as a list of VLTrackingIssue.

◆ TrackerInitializingAction()

delegate void VLWorkerBehaviour.TrackerInitializingAction ( )

Delegate for OnTrackerInitializing events.

◆ TrackerPausedAction()

delegate void VLWorkerBehaviour.TrackerPausedAction ( bool success )

Delegate for OnTrackerPaused events.

Parameters

success true, on success; false, otherwise.

◆ TrackerRanOnceAction()

delegate void VLWorkerBehaviour.TrackerRanOnceAction ( bool success )

Delegate for OnTrackerRanOnce events.

Parameters

success true, on success; false, otherwise.

◆ TrackerResetAction()

delegate void VLWorkerBehaviour.TrackerResetAction ( bool hard )

Delegate for TrackedResetAction events.

Parameters

hard Not used

◆ TrackerResetHardAction()

delegate void VLWorkerBehaviour.TrackerResetHardAction ( bool success )

Delegate for TrackerResetHardAction events.

Parameters

success true, on success; false, otherwise.

◆ TrackerResetSoftAction()

delegate void VLWorkerBehaviour.TrackerResetSoftAction ( bool success )

Delegate for OnTrackerResetSoft events.

Parameters

success true, on success; false, otherwise.

◆ TrackerRunningAction()

delegate void VLWorkerBehaviour.TrackerRunningAction ( bool success )

Delegate for OnTrackerRunning events.

Parameters

success true, on success; false, otherwise.

◆ TrackerStoppedAction()

delegate void VLWorkerBehaviour.TrackerStoppedAction ( bool success )

Delegate for OnTrackerStopped events.

Parameters

success true, on success; false, otherwise.

◆ TrackingStateAction()

delegate void VLWorkerBehaviour.TrackingStateAction	(	int	state,
		string	objectID
	)

Delegate for OnTrackingState events.

Parameters

state	`100`, if object is tracked right now; `0`, otherwise.
objectID	`objectID`, may refer to a different object.

◆ TrackingStatesAction()

delegate void VLWorkerBehaviour.TrackingStatesAction ( VLTrackingState state )

Delegate for OnTrackingStates events.

Parameters

state VLTrackingState with information about the currently tracked objects.

◆ WriteCameraCalibration()

bool VLWorkerBehaviour.WriteCameraCalibration ( string uri )

inline

Field Documentation

◆ baseDir

string VLWorkerBehaviour.baseDir

Directory from which the tracking configuration files will be loaded.

If this is null or an empty string, then the tracking configuration files will be loaded from the /StreamingAssets/VisionLib/ directory. This has the advantage, that they can be found on all platforms. Otherwise you need to make sure, that the baseDir is accessible for the current platform.

◆ calibrationDataBaseURI

string VLWorkerBehaviour.calibrationDataBaseURI

◆ flipCoordinateSystemHandedness

VLUnityCameraHelper.FlipCoordinateSystemHandedness VLWorkerBehaviour.flipCoordinateSystemHandedness

Initial value:

=

VLUnityCameraHelper.FlipCoordinateSystemHandedness.Automatically

◆ licenseFile

VLLicenseFile VLWorkerBehaviour.licenseFile

Path of the license file relative to StreamingAssets, e.g. license.xml.

◆ logLevel

VLUnitySdk.LogLevel VLWorkerBehaviour.logLevel = VLUnitySdk.LogLevel.Warning

VisionLib log level.

Available log levels:

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

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

◆ synchronousWorker

bool VLWorkerBehaviour.synchronousWorker = false

◆ targetFPS

int VLWorkerBehaviour.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 VLWorkerBehaviour.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.

Event Documentation

◆ OnCameraCalibrationData

CalibrationDataAction VLWorkerBehaviour.OnCameraCalibrationData

static

◆ OnExtrinsicData

ExtrinsicDataAction VLWorkerBehaviour.OnExtrinsicData

static

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

◆ OnImage

ImageAction VLWorkerBehaviour.OnImage

static

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

◆ OnIntrinsicData

IntrinsicDataAction VLWorkerBehaviour.OnIntrinsicData

static

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

◆ OnPerformanceInfo

PerformanceInfoAction VLWorkerBehaviour.OnPerformanceInfo

static

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

◆ OnTrackerInitialized

TrackerInitializedAction VLWorkerBehaviour.OnTrackerInitialized

static

Event which will be emitted after the tracking configuration was loaded.

◆ OnTrackerInitializedWithIssues

TrackerInitializedWithIssuesAction VLWorkerBehaviour.OnTrackerInitializedWithIssues

static

Event which will be emitted after the tracking configuration was loaded.

◆ OnTrackerInitializing

TrackerInitializingAction VLWorkerBehaviour.OnTrackerInitializing

static

Event which will be emitted once after calling the StartTracking function.

◆ OnTrackerPaused

TrackerPausedAction VLWorkerBehaviour.OnTrackerPaused

static

Event which will be emitted after the tracking was paused.

◆ OnTrackerRanOnce

TrackerRanOnceAction VLWorkerBehaviour.OnTrackerRanOnce

static

Event which will be emitted once after the tracking was explicitly ran once.

◆ OnTrackerReset

TrackerResetAction VLWorkerBehaviour.OnTrackerReset

static

(DEPRECATED) Event which will be emitted after a reset was executed.

◆ OnTrackerResetHard

TrackerResetHardAction VLWorkerBehaviour.OnTrackerResetHard

static

Event which will be emitted after a hard reset was executed.

◆ OnTrackerResetSoft

TrackerResetSoftAction VLWorkerBehaviour.OnTrackerResetSoft

static

Event which will be emitted after a soft reset was executed.

◆ OnTrackerRunning

TrackerRunningAction VLWorkerBehaviour.OnTrackerRunning

static

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

◆ OnTrackerStopped

TrackerStoppedAction VLWorkerBehaviour.OnTrackerStopped

static

Event which will be emitted after the tracking was stopped.

◆ OnTrackingState

TrackingStateAction VLWorkerBehaviour.OnTrackingState

static

Event with the current tracking state. This Event will be emitted for each tracking frame.

NOTICE: The OnTrackingState event is obsolete. Use the OnTrackingStates event instead.

◆ OnTrackingStates

TrackingStatesAction VLWorkerBehaviour.OnTrackingStates

static

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

documentation

Public Member Functions

Data Fields

Events

Member Function Documentation

◆ AddCameraCalibrationDB()

◆ CalibrationDataAction()

◆ ExtrinsicDataAction()

◆ GetDeviceInfo()

◆ GetTrackerType()

◆ GetTrackingRunning()

◆ GetWorker()

◆ ImageAction()

◆ InjectFrame()

◆ IntrinsicDataAction()

◆ PauseTracking()

◆ PerformanceInfoAction()

◆ ResetTracking()

◆ ResetTrackingHard()

◆ ResetTrackingSoft()

◆ ResumeTracking()

◆ RunTrackingOnce()

◆ SetCameraCalibrationState()

◆ SetWaitForEvents()

◆ StartTracking()

◆ StartTrackingFromString()

◆ StopTracking()

◆ TrackerInitializedAction()

◆ TrackerInitializedWithIssuesAction()

◆ TrackerInitializingAction()

◆ TrackerPausedAction()

◆ TrackerRanOnceAction()

◆ TrackerResetAction()

◆ TrackerResetHardAction()

◆ TrackerResetSoftAction()

◆ TrackerRunningAction()

◆ TrackerStoppedAction()

◆ TrackingStateAction()

◆ TrackingStatesAction()

◆ WriteCameraCalibration()

Field Documentation

◆ baseDir

◆ calibrationDataBaseURI

◆ flipCoordinateSystemHandedness

◆ licenseFile

◆ logLevel

◆ synchronousWorker

◆ targetFPS

◆ waitForEvents

Event Documentation

◆ OnCameraCalibrationData

◆ OnExtrinsicData

◆ OnImage

◆ OnIntrinsicData

◆ OnPerformanceInfo

◆ OnTrackerInitialized

◆ OnTrackerInitializedWithIssues

◆ OnTrackerInitializing

◆ OnTrackerPaused

◆ OnTrackerRanOnce

◆ OnTrackerReset

◆ OnTrackerResetHard

◆ OnTrackerResetSoft

◆ OnTrackerRunning

◆ OnTrackerStopped

◆ OnTrackingState

◆ OnTrackingStates