The VLWorker is a wrapper for an Worker object. The Worker object manages the tracking thread. More...

Inherits IDisposable.

Public Member Functions
	VLWorker (bool syncWorker=false)
	Constructor of VLWorker. More...

bool	AddCameraCalibrationDB (string uri)
	Adds a custom camera calibration database file. More...

bool	AddDebugImageListener (ImageWrapperCallback listener, IntPtr clientData)
	Registers a listener for debug image events. DebugImageListeners are removed automatically, whenever the tracker gets destroyed. More...

bool	AddExtrinsicDataListener (ExtrinsicDataWrapperCallback listener, IntPtr clientData)
	Registers a listener for extrinsic data events. More...

bool	AddImageListener (ImageWrapperCallback listener, IntPtr clientData)
	Registers a listener for image events. More...

bool	AddIntrinsicDataListener (IntrinsicDataWrapperCallback listener, IntPtr clientData)
	Registers a listener for intrinsic data events. More...

bool	AddPerformanceInfoListener (StringCallback listener, IntPtr clientData)
	Registers a listener for performance information events. More...

bool	AddTrackingStateListener (StringCallback listener, IntPtr clientData)
	Registers a listener for tracking state events. More...

bool	AddWorldFromAnchorTransformListener (string anchorName, SimilarityTransformWrapperCallback listener, IntPtr clientData)
	Registers a listener for anchor to world transform events. More...

bool	AddWorldFromCameraTransformListener (ExtrinsicDataWrapperCallback listener, IntPtr clientData)
	Registers a listener for world to camera transform events. More...

delegate void	BoolCallback (bool data, IntPtr clientData)

void	Dispose ()
	Explicitly releases references to unmanaged resources. More...

delegate void	ExtrinsicDataWrapperCallback (IntPtr handle, IntPtr clientData)

VLDeviceInfo	GetDeviceInfo ()
	Retrieves the device info object from the VLWorker. More...

bool	GetDisposed ()

VLImageWrapper	GetImageSync ()
	Returns a pointer to the camera image. More...

VLLicenseInformation	GetLicenseInformation ()
	Retrieves the license information object. More...

VLExtrinsicDataWrapper	GetNodeExtrinsicDataSync (string node, string key)

VLImageWrapper	GetNodeImageSync (string node, string key)

VLIntrinsicDataWrapper	GetNodeIntrinsicDataSync (string node, string key)

VLSimilarityTransformWrapper	GetNodeSimilarityTransformSync (string node, string key)

VLTrackingState	GetNodeTrackingStateSync (string node)

delegate void	ImageWrapperCallback (IntPtr handle, IntPtr clientData)

delegate void	IntrinsicDataWrapperCallback (IntPtr handle, IntPtr clientData)

bool	IsRunning ()
	Returns whether the thread is currently running or not. More...

delegate void	JsonStringAndBinaryCallback ([MarshalAs(UnmanagedType.LPStr)] string description, IntPtr data, System.UInt32 dataSize, IntPtr clientData)

delegate void	JsonStringCallback ([MarshalAs(UnmanagedType.LPStr)] string errorJson, [MarshalAs(UnmanagedType.LPStr)] string dataJson, IntPtr clientData)

bool	LoadPlugin (string pluginName)
	Loads the Plugin with the given name. More...

bool	PollEvents ()
	Calls the registered listeners for the enqueued events. More...

bool	ProcessCallbacks ()
	Executes all enqueued callbacks. More...

bool	PushCommand (VLWorkerCommands.CommandBase cmd, JsonStringCallback callback, IntPtr clientData)
	Enqueues a command for the tracking thread. More...

bool	PushJsonAndBinaryCommand (string jsonString, IntPtr binaryDataPtr, UInt32 binaryDataSize, JsonStringAndBinaryCallback callback, IntPtr clientData)
	Enqueues a command for the tracking thread using a JSON string and binary data - THIS FUNCTION IS CONSIDERED AS BETA AND MAY BE MATTER OF CHANGE. More...

bool	PushJsonCommand (string jsonString, JsonStringCallback callback, IntPtr clientData)
	Enqueues a command for the tracking thread using a JSON string. More...

bool	RemoveDebugImageListener (ImageWrapperCallback listener, IntPtr clientData)
	Unregisters a listener from debug image events. More...

bool	RemoveExtrinsicDataListener (ExtrinsicDataWrapperCallback listener, IntPtr clientData)
	Unregisters a listener from extrinsic data events. More...

bool	RemoveImageListener (ImageWrapperCallback listener, IntPtr clientData)
	Unregisters a listener from image events. More...

bool	RemoveIntrinsicDataListener (IntrinsicDataWrapperCallback listener, IntPtr clientData)
	Unregisters a listener from intrinsic data events. More...

bool	RemovePerformanceInfoListener (StringCallback listener, IntPtr clientData)
	Unregisters a listener from performance info events. More...

bool	RemoveTrackingStateListener (StringCallback listener, IntPtr clientData)
	Unregisters a listener from tracking state events. More...

bool	RemoveWorldFromAnchorTransformListener (string anchorName, SimilarityTransformWrapperCallback listener, IntPtr clientData)
	Unregisters a listener from anchor to world transform events. More...

bool	RemoveWorldFromCameraTransformListener (ExtrinsicDataWrapperCallback listener, IntPtr clientData)
	Unregisters a listener from world to camera transform events. More...

bool	RunOnceSync ()
	Processes the enqueued commands and the tracking once. More...

bool	SetLicenseFileData (string licenseFileData)
	Allows to inject the license data from memory More...

bool	SetLicenseFilePath (string licenseFilePath)
	Sets the path of the license file in the system. More...

bool	SetNodeExtrinsicDataSync (VLExtrinsicDataWrapper extrinsicData, string node, string key)

bool	SetNodeImageSync (VLImageWrapper image, string node, string key)

bool	SetNodeIntrinsicDataSync (VLIntrinsicDataWrapper intrinsicData, string node, string key)

bool	SetNodeSimilarityTransformSync (VLSimilarityTransformWrapper similarityTransform, string node, string key)

delegate void	SimilarityTransformWrapperCallback (IntPtr handle, IntPtr clientData)

bool	Start ()
	Starts the tracking thread. More...

bool	Stop ()
	Stops the tracking thread. More...

delegate void	StringCallback ([MarshalAs(UnmanagedType.LPStr)] string message, IntPtr clientData)

bool	WaitEvents (uint timeout)
	Waits for enqueued events and calls the registered listeners. More...

Detailed Description

The VLWorker is a wrapper for an Worker object. The Worker object manages the tracking thread.

Constructor & Destructor Documentation

◆ VLWorker()

VLWorker.VLWorker ( bool syncWorker = false )

inline

Constructor of VLWorker.

Member Function Documentation

◆ AddCameraCalibrationDB()

bool VLWorker.AddCameraCalibrationDB ( string uri )

inline

Adds a custom camera calibration database file.

The calibration database must be added before loading a tracking configuration.

Returns: true, if the camera calibration database URI was added successfully; false otherwise. false will also be returned, if the URI was added already.

Parameters

uri	URI to the camera calibration database file

◆ AddDebugImageListener()

bool VLWorker.AddDebugImageListener	(	ImageWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Registers a listener for debug image events. DebugImageListeners are removed automatically, whenever the tracker gets destroyed.

Parameters

listener	Listener which will be notified during the event processing, if an debug image event occurred.
clientData	The listener function will be called with the given pointer value as parameter.

Returns: true, if the listener was registered successfully; false otherwise.

See also: VLImageWrapper

◆ AddExtrinsicDataListener()

bool VLWorker.AddExtrinsicDataListener	(	ExtrinsicDataWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Registers a listener for extrinsic data events.

Parameters

listener	Listener which will be notified during the event processing, if an extrinsic data event occurred.
clientData	The listener function will be called with the given pointer value as parameter.

Returns: true, if the listener was registered successfully; false otherwise.

See also: VLExtrinsicDataWrapper

◆ AddImageListener()

bool VLWorker.AddImageListener	(	ImageWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Registers a listener for image events.

Parameters

listener	Listener which will be notified during the event processing, if an image event occurred.
clientData	The listener function will be called with the given pointer value as parameter.

Returns: true, if the listener was registered successfully; false otherwise.

See also: VLImageWrapper

◆ AddIntrinsicDataListener()

bool VLWorker.AddIntrinsicDataListener	(	IntrinsicDataWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Registers a listener for intrinsic data events.

Parameters

listener	Listener which will be notified during the event processing, if an intrinsic data event occurred.
clientData	The listener function will be called with the given pointer value as argument.

Returns: true, if the listener was registered successfully; false otherwise.

See also: VLIntrinsicDataWrapper

◆ AddPerformanceInfoListener()

bool VLWorker.AddPerformanceInfoListener	(	StringCallback	listener,
		IntPtr	clientData
	)

inline

Registers a listener for performance information events.

Parameters

listener	Listener which will be notified during the event processing, if a performance info state event occurred.
clientData	The listener function will be called with the given pointer value as parameter.

Returns: true, if the listener was registered successfully; false otherwise.

◆ AddTrackingStateListener()

bool VLWorker.AddTrackingStateListener	(	StringCallback	listener,
		IntPtr	clientData
	)

inline

Registers a listener for tracking state events.

Parameters

listener	Listener which will be notified during the event processing, if an tracking state event occurred.
clientData	The listener function will be called with the given pointer value as parameter.

Returns: true, if the listener was registered successfully; false otherwise.

◆ AddWorldFromAnchorTransformListener()

bool VLWorker.AddWorldFromAnchorTransformListener	(	string	anchorName,
		SimilarityTransformWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Registers a listener for anchor to world transform events.

Parameters

anchorName	Name of the anchor which the listener should be getting the similarity transform from.
listener	Listener which will be notified during the event processing, if an similarity transform event occurred.
clientData	The listener function will be called with the given pointer value as parameter.

Returns: true, if the listener was registered successfully; false otherwise.

See also: VLSimilarityTransformWrapper

◆ AddWorldFromCameraTransformListener()

bool VLWorker.AddWorldFromCameraTransformListener	(	ExtrinsicDataWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Registers a listener for world to camera transform events.

Parameters

listener	Listener which will be notified during the event processing, if an world to camera transform event occurred.
clientData	The listener function will be called with the given pointer value as parameter.

Returns: true, if the listener was registered successfully; false otherwise.

See also: VLExtrinsicDataWrapper

◆ Dispose()

void VLWorker.Dispose ( )

inline

Explicitly releases references to unmanaged resources.

Call Dispose when you are finished using the VLWorker. The Dispose method leaves the VLWorker in an unusable state. After calling Dispose, you must release all references to the VLWorker so the garbage collector can reclaim the memory that the VLWorker was occupying.

◆ GetDeviceInfo()

VLDeviceInfo VLWorker.GetDeviceInfo ( )

inline

Retrieves the device info object from the VLWorker.

Returns: VLDeviceInfo, if the device info was acquired successfully; null otherwise.

◆ GetImageSync()

VLImageWrapper VLWorker.GetImageSync ( )

inline

Returns a pointer to the camera image.

This function only works, if the Worker was created as synchronous instance.

NOTICE: This functions is experimental and might get removed in future.

Returns: VLImageWrapper, on success; null, otherwise.

◆ GetLicenseInformation()

VLLicenseInformation VLWorker.GetLicenseInformation ( )

inline

Retrieves the license information object.

Returns: VLLicenseInformation, if the license information was acquired successfully; null otherwise.

◆ IsRunning()

bool VLWorker.IsRunning ( )

inline

Returns whether the thread is currently running or not.

Returns: true, if the thread is running; false otherwise.

◆ LoadPlugin()

bool VLWorker.LoadPlugin ( string pluginName )

inline

Loads the Plugin with the given name.

Parameters

pluginName The name of the plugin to load

Returns: true, on success; false otherwise.

◆ PollEvents()

bool VLWorker.PollEvents ( )

inline

Calls the registered listeners for the enqueued events.

Listeners aren't called immediately from the tracking thread in order to avoid synchronisation problems. Instead this method should be called regularly from the main thread.

Returns: true, if the events where processed successfully; false otherwise.

See also: AddImageListener, AddExtrinsicDataListener, AddIntrinsicDataListener

◆ ProcessCallbacks()

bool VLWorker.ProcessCallbacks ( )

inline

Executes all enqueued callbacks.

Callbacks aren't called immediately from the tracking thread in order to avoid synchronisation problems. Instead this method should be called regularly from the main thread.

Returns: true, if the command was enqueue successfully; false otherwise.

See also: PushCommand

◆ PushCommand()

bool VLWorker.PushCommand	(	VLWorkerCommands.CommandBase	cmd,
		JsonStringCallback	callback,
		IntPtr	clientData
	)

inline

Enqueues a command for the tracking thread.

A callback will called once after the processing has finished.

The different commands are defined inside the VLWorkerCommands namespace.

Parameters

cmd	The command object.
callback	Callback, which will be called inside ProcessCallbacks after the command was processed.
clientData	The callback function will be called with the given pointer value.

Returns: true, if the command was enqueue successfully; false otherwise.

◆ PushJsonAndBinaryCommand()

bool VLWorker.PushJsonAndBinaryCommand	(	string	jsonString,
		IntPtr	binaryDataPtr,
		UInt32	binaryDataSize,
		JsonStringAndBinaryCallback	callback,
		IntPtr	clientData
	)

inline

Enqueues a command for the tracking thread using a JSON string and binary data - THIS FUNCTION IS CONSIDERED AS BETA AND MAY BE MATTER OF CHANGE.

The command gets processed asynchronously by the tracking thread and a callback will called once after the processing has finished. Since the memory is pinned until the callback is called in order to prevent multiple copies, the static FreeBinaryMemory() function should be called from the callback, in order to free allocated memory, which has eventually beeing passed to the function.

Parameters

jsonString	The command with all necessary data as JSON string. The JSON string should describe the data
binaryDataPtr	Binary data ptr, which is a pinned gcHandle memory pointer, which should be given to the vlSDK
binaryDataSize	The size of the Binary data.
callback	Callback, which will be called inside ProcessCallbacks after the command was processed.
clientData	The callback function will be called with the given pointer value.

Returns: true, if the command was enqueue successfully; false otherwise (usually some JSON syntax error).

◆ PushJsonCommand()

bool VLWorker.PushJsonCommand	(	string	jsonString,
		JsonStringCallback	callback,
		IntPtr	clientData
	)

inline

Enqueues a command for the tracking thread using a JSON string.

The command gets processed asynchronously by the tracking thread and a callback will called once after the processing has finished.

You need to make sure, that the JSON string has the expected format. Therefore you might want to use the VLWorker.PushCommand functions instead. This function will ensure that the command will be pushed as expected.

Parameters

jsonString	The command with all necessary data as JSON string.
callback	Callback, which will be called inside ProcessCallbacks after the command was processed.
clientData	The callback function will be called with the given pointer value.

Returns: true, if the command was enqueue successfully; false otherwise (usually some JSON syntax error).

◆ RemoveDebugImageListener()

bool VLWorker.RemoveDebugImageListener	(	ImageWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Unregisters a listener from debug image events.

Parameters

listener	Listener which should be unregistered.
clientData	Pointer value used as parameter during the registration of the listener.

Returns: true, if the listener was unregistered successfully; false otherwise.

See also: VLImageWrapper

◆ RemoveExtrinsicDataListener()

bool VLWorker.RemoveExtrinsicDataListener	(	ExtrinsicDataWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Unregisters a listener from extrinsic data events.

Parameters

listener	Listener which should be unregistered.
clientData	Pointer value used as parameter during the registration of the listener.

Returns: true, if the listener was unregistered successfully; false otherwise.

See also: VLImageWrapper

◆ RemoveImageListener()

bool VLWorker.RemoveImageListener	(	ImageWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Unregisters a listener from image events.

Parameters

listener	Listener which should be unregistered.
clientData	Pointer value used as parameter during the registration of the listener.

Returns: true, if the listener was unregistered successfully; false otherwise.

See also: VLImageWrapper

◆ RemoveIntrinsicDataListener()

bool VLWorker.RemoveIntrinsicDataListener	(	IntrinsicDataWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Unregisters a listener from intrinsic data events.

Parameters

listener	Listener which should be unregistered.
clientData	Pointer value used as parameter during the registration of the listener.

Returns: true, if the listener was unregistered successfully; false otherwise.

See also: VLImageWrapper

◆ RemovePerformanceInfoListener()

bool VLWorker.RemovePerformanceInfoListener	(	StringCallback	listener,
		IntPtr	clientData
	)

inline

Unregisters a listener from performance info events.

Parameters

listener	Listener which should be unregistered.
clientData	Pointer value used as parameter during the registration of the listener.

Returns: true, if the listener was unregistered successfully; false otherwise.

See also: VLImageWrapper

◆ RemoveTrackingStateListener()

bool VLWorker.RemoveTrackingStateListener	(	StringCallback	listener,
		IntPtr	clientData
	)

inline

Unregisters a listener from tracking state events.

Parameters

listener	Listener which should be unregistered.
clientData	Pointer value used as parameter during the registration of the listener.

Returns: true, if the listener was unregistered successfully; false otherwise.

See also: VLImageWrapper

◆ RemoveWorldFromAnchorTransformListener()

bool VLWorker.RemoveWorldFromAnchorTransformListener	(	string	anchorName,
		SimilarityTransformWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Unregisters a listener from anchor to world transform events.

Parameters

anchorName	Name of the anchor from which the listener should be removed.
listener	Listener which should be unregistered.
clientData	Pointer value used as parameter during the registration of the listener.

Returns: true, if the listener was unregistered successfully; false otherwise.

See also: VLSimilarityTransformWrapper

◆ RemoveWorldFromCameraTransformListener()

bool VLWorker.RemoveWorldFromCameraTransformListener	(	ExtrinsicDataWrapperCallback	listener,
		IntPtr	clientData
	)

inline

Unregisters a listener from world to camera transform events.

Parameters

listener	Listener which should be unregistered.
clientData	Pointer value used as parameter during the registration of the listener.

Returns: true, if the listener was unregistered successfully; false otherwise.

See also: VLExtrinsicDataWrapper

◆ RunOnceSync()

bool VLWorker.RunOnceSync ( )

inline

Processes the enqueued commands and the tracking once.

This function only works, if the Worker was created as synchronous instance. The target number of FPS will get ignored. After calling this function you should call VLWorker.ProcessCallbacks and VLWorker.PollEvents to invoke callbacks and registered listeners.

Returns: true, on success; false otherwise.

◆ SetLicenseFileData()

bool VLWorker.SetLicenseFileData ( string licenseFileData )

inline

Allows to inject the license data from memory

Parameters

data	String with the license data.

Returns: true, on success; false otherwise.

◆ SetLicenseFilePath()

bool VLWorker.SetLicenseFilePath ( string licenseFilePath )

inline

Sets the path of the license file in the system.

Calling of this function is mandatory for starting the tracking configuration.

Parameters

path	The absolute location of the file.

Returns: true, on success; false otherwise.

◆ Start()

bool VLWorker.Start ( )

inline

Starts the tracking thread.

Returns: true, if the thread was started successfully; false otherwise.

◆ Stop()

bool VLWorker.Stop ( )

inline

Stops the tracking thread.

Returns: true, if the thread was stopped successfully; false otherwise.

◆ WaitEvents()

bool VLWorker.WaitEvents ( uint timeout )

inline

Waits for enqueued events and calls the registered listeners.

Listeners aren't called immediately from the tracking thread in order to avoid synchronisation problems. Instead this method should be called regularly from the main thread.

Parameters

timeout Number of milliseconds before stopping to wait. Under normal circumstances this shouldn't happen, but in case something went wrong, we don't want to wait indefinitely.

Returns: true, on success or false, if there was an error while waiting for events. false is also returned, if the tracking is enabled, but the timeout elapsed without an event arriving.

See also: AddImageListener, AddExtrinsicDataListener, AddIntrinsicDataListener

documentation

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ VLWorker()

Member Function Documentation

◆ AddCameraCalibrationDB()

◆ AddDebugImageListener()

◆ AddExtrinsicDataListener()

◆ AddImageListener()

◆ AddIntrinsicDataListener()

◆ AddPerformanceInfoListener()

◆ AddTrackingStateListener()

◆ AddWorldFromAnchorTransformListener()

◆ AddWorldFromCameraTransformListener()

◆ Dispose()

◆ GetDeviceInfo()

◆ GetImageSync()

◆ GetLicenseInformation()

◆ IsRunning()

◆ LoadPlugin()

◆ PollEvents()

◆ ProcessCallbacks()

◆ PushCommand()

◆ PushJsonAndBinaryCommand()

◆ PushJsonCommand()

◆ RemoveDebugImageListener()

◆ RemoveExtrinsicDataListener()

◆ RemoveImageListener()

◆ RemoveIntrinsicDataListener()

◆ RemovePerformanceInfoListener()

◆ RemoveTrackingStateListener()

◆ RemoveWorldFromAnchorTransformListener()

◆ RemoveWorldFromCameraTransformListener()

◆ RunOnceSync()

◆ SetLicenseFileData()

◆ SetLicenseFilePath()

◆ Start()

◆ Stop()

◆ WaitEvents()