vlSDK_Apple.h

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//
//  vlSDK_Apple.h
//  VisionLib Objective-C Interface
//
//  Created by Timo Engelke on 02.11.16.
//  Copyright © 2016-2018 Visometry GmbH. All rights reserved.
//
// Version 0.4
//

#ifndef vlSDK_APPLE_h
#define vlSDK_APPLE_h

#include "vlSDKDef.h"

#import <Foundation/Foundation.h>
#if defined(__arm__) || defined(__arm64__)
#define vlSDKFOR_IPHONE
#endif

#ifdef vlSDKFOR_IPHONE
#import <UIKit/UIKit.h>
#endif

#import <Metal/Metal.h>
#import <CoreImage/CoreImage.h>

/*
@interface vlCameraDevice:NSObject {
@public
    NSString *deviceID;
    NSString *internalID;
    NSString *cameraName;
    NSString *position;
    NSString *prefRes;
}
@end

@interface vlDeviceInfo:NSObject {
@public
    NSString *os;
    NSString *manufacture;
    NSString *model;
    NSString *modelVersion;
    NSString *unifiedID;
    NSString *internalModelID;
    NSString *appID;
    int numberOfProcessors;
    int nativeResX;
    int nativeResY;
    int currentDisplayOrientation;
    bool usingEventLogger;
    bool cameraAllowed;
    NSArray<vlCameraDevice *> *availableCameras;
}
 @end
*/

FOUNDATION_EXPORT VL_SDK_API @interface vlTrackingObjectState:NSObject {
@public
    NSString* name;
    NSString* state;
    float quality;
    float _InitInlierRatio;
    int _InitNumOfCorresp;
    float _TrackingInlierRatio;
    int _TrackingNumOfCorresp;
    float _SFHFrameDist;
    float _Total3DFeatureCount;
    int _NumberOfPatternRecognitions;
    int _NumberOfTemplates;
    int _NumberOfTemplatesDynamic;
    int _NumberOfTemplatesStatic;
    int _NumberOfLineModels;
    float _AutoInitSetupProgress;
    int _TrackingImageWidth;
    int _TrackingImageHeight;
    double timeStamp;
}
@end

FOUNDATION_EXPORT VL_SDK_API @interface vlTrackingDeviceState:NSObject {
@public
    NSString* name;
    NSString* _WorldMappingStatus;
}
@end

FOUNDATION_EXPORT VL_SDK_API @interface vlTrackingState:NSObject {
@public
    NSArray<vlTrackingObjectState*>* objects;
    NSArray<vlTrackingDeviceState*>* inputs;
}
@end

FOUNDATION_EXPORT VL_SDK_API @interface vlModelProperties:NSObject {
@public
    
    bool enabled;

    NSString *modelHash;

    NSString *name;

    NSString *uri;

    bool occluder;
    
    int subMeshCount;
    
    int triangleCount;
}
/*@property (atomic, assign) bool enabled;
@property (nonatomic, retain) NSString * _Nonnull modelHash;
@property (nonatomic, retain) NSString *_Nonnull name;
@property (nonatomic, assign) bool occluder;
@property (nonatomic, assign) int subMeshCount;
@property (nonatomic, assign) int triangleCount;
@property (nonatomic, retain) NSString *_Nonnull uri;
*/
- (NSString *)toString;
@end

FOUNDATION_EXPORT VL_SDK_API @interface vlTrackingIssue:NSObject {
@public
    NSString *info;
    int code;
    int level;
}
@end

FOUNDATION_EXPORT VL_SDK_API @interface vlTrackingIssues:NSObject {
@public
    NSArray<vlTrackingIssue *> *issues;
    NSString *message;
}
-(BOOL)hasCode:(int)code;

@end

FOUNDATION_EXPORT VL_SDK_API @protocol vlFrameListenerInterface <NSObject>

@optional

//

-(NSMutableData * _Nonnull )onGetDebugImageBufferWithWidth:(int)width andHeight:(int)height andBytesPerPixel:(int)bytesPerPixel;

-(void)onRawDebugImageBuffer:(NSData * _Nonnull)data withWidth:(int)width andHeight:(int)height andBytesPerPixel:(int)bytesPerPixel;

-(void)onMetalDebugImageTexture:(_Nonnull id<MTLTexture>)texture withRotationMatrix:(float * _Nonnull)m;

-(void)onCGDebugImageRef:(CGImageRef _Nonnull)texture withRotationMatrix:(float * _Nonnull)m;



-(NSMutableData * _Nonnull )onGetImageBufferWithWidth:(int)width andHeight:(int)height andBytesPerPixel:(int)bytesPerPixel;

-(void)onRawImageBuffer:(NSData * _Nonnull)data withWidth:(int)width andHeight:(int)height andBytesPerPixel:(int)bytesPerPixel;

-(void)onMetalImageTexture:(_Nonnull id<MTLTexture>)texture withRotationMatrix:(float * _Nonnull)m;

-(void)onCGImageRef:(CGImageRef _Nonnull)texture withRotationMatrix:(float * _Nonnull)m;



-(void)onTrackerInitialized:(bool)worked;

-(void)onTrackerInitializedWithWarningIssues:(vlTrackingIssues* _Nullable)warnings andErrors:(vlTrackingIssues*  _Nullable)errors;

-(void)onExtrinsicData:(float * _Nonnull)data isValid:(bool)valid;

-(void)onIntrinsicData:(float * _Nonnull)data;

-(void)onIntrinsicDataWithWidth:(float)width height:(float)height cx:(float)cx cy:(float)cy fx:(float)fx fy:(float)fy;

-(void)onLog:(NSString * _Nonnull)logString;

-(void)onTrackingPaused:(BOOL)worked;

-(void)onSteppedFrame;

-(void)onTrackingInformation:(vlTrackingState* _Nonnull)state;

-(void)onInitPose:(float * _Nonnull)t andQ:(float* _Nonnull)q;

-(void)onInitPoseMatrix:(float * _Nonnull)m;

-(void)onResetTracking:(BOOL)hard;



-(void) onCalibrationResults:(NSString * _Nullable)json;


-(void) onGetAttribute:(NSString *_Nonnull)name withValue:(NSString *_Nonnull)value;


-(void)onModelProperties:(NSArray<vlModelProperties*>* _Nonnull)info;
-(void)onModelRemoved:(NSString * _Nullable)json withError:(NSString * _Nullable)errorJson;
-(void)onRawModelAdded:(NSString * _Nullable)json withError:(NSString * _Nullable)errorJson;
@end


FOUNDATION_EXPORT VL_SDK_API @interface vlSDK : NSObject {
}

-(id _Nonnull) initTrackerWithURI:(NSString* _Nonnull)uri andDelegate:(id _Nullable)delegate __attribute((deprecated("Use functions that also set licensePath or licenseData")));

-(id _Nonnull) initTrackerWithURI:(NSString* _Nonnull)uri andLicensePath:(NSString* _Nonnull)licensePath andDelegate:(id _Nullable)delegate;

-(id _Nonnull) initTrackerWithURI:(NSString* _Nonnull)uri andLicenseData:(NSString* _Nonnull)licenseData andDelegate:(id _Nullable)delegate;

-(id _Nonnull) initTrackerWithURI:(NSString* _Nonnull)uri andDelegate:(_Nullable id)delegate withOptions:(NSDictionary * _Nullable)options __attribute((deprecated("Use functions that also set licensePath or licenseData")));

-(id _Nonnull) initTrackerWithURI:(NSString* _Nonnull)uri andLicensePath:(NSString* _Nonnull)licensePath andDelegate:(_Nullable id)delegate withOptions:(NSDictionary * _Nullable)options;

-(id _Nonnull) initTrackerWithURI:(NSString* _Nonnull)uri andLicenseData:(NSString* _Nonnull)licenseData andDelegate:(_Nullable id)delegate withOptions:(NSDictionary * _Nullable)options;


- (void) dealloc;

- (void) shutDown;

-(void) process;

-(void)step;

-(BOOL) isPaused;


-(void) pause:(BOOL)enable;

-(void) run;

-(void) stop;
-(void) start;

#ifdef vlSDKFOR_IPHONE


-(void) setDeviceOrientation:(UIDeviceOrientation)orientation withWidth:(int)width andHeight:(int)height;
#else

-(void) windowResized:(CGSize)size;

#endif

-(void) setLogLevel:(int)level;

-(void) setFPS:(unsigned int)fps;

-(void) setNearPlane:(float)near andFarPlane:(float)far;

-(void) setInitPose:(float * _Nonnull)t andQ:(float* _Nonnull)q;

-(void) setInitPoseFromMatrix:(float * _Nonnull)m;


-(void) configureExtrinsicCameraInverted:(BOOL)invert;

-(void) resetSoft;

-(void) resetHard;

-(void) getInitPose;

-(BOOL) getLastExtrinsic:(float * _Nonnull)m;

-(void) applyInitPoseCorrectionWithAxis:(float* _Nonnull)axis andAngle:(float)angle;

-(void) getInitPoseCorrectionWithAxis:(float* _Nonnull)axis andAngle:(float* _Nonnull)angle;

-(BOOL) enableDebugImage;

-(BOOL) disableDebugImage;

#ifdef vlSDKFOR_IPHONE

-(void)startAlignInitPoseWithSensor;

-(void)stopAlignInitPoseWithSensor;
#endif

#ifdef vlSDKFOR_IPHONE

-(UIImage * _Nullable)getLastImage;
#else

-(NSImage * _Nullable) getLastImage;

#endif

-(void)setAttributeCommand:(NSString * _Nonnull)attribute withFloatValue:(float)value;

-(void)setAttributeCommand:(NSString * _Nonnull)attribute withStringValue:(NSString * _Nonnull)value;

-(void)getAttributeRequest:(NSString * _Nonnull)attribute;


-(void)setCalibrationCommand:(NSString * _Nonnull)command;

-(void)writeCalibrationDB:(NSString * _Nonnull)uri;

-(NSString * _Nullable)getTrackerType;

-(NSString * _Nullable)getDeviceType;

-(void)writeInitData:(NSString *_Nonnull)uri;




-(void)readInitData:(NSString *_Nonnull)uri;

-(void)resetInitData;


-(void)setModel:(NSString *_Nonnull)name property:(NSString *_Nonnull)property state:(bool)enable;



-(void)requestModelProperties;

-(void)requestModelData:(NSString*_Nonnull)name withOptions:(NSString *_Nonnull)options;


-(void)removeModel:(NSString*_Nonnull)nameURI;

-(BOOL)addRawModelWithStruct:(NSString *_Nonnull)struc andData:(NSData*_Nonnull)data;


-(void)pushJsonAndBinaryCommand:(NSString *_Nonnull)struc andData:(NSData*_Nonnull)data;
-(void)pushJsonCommand:(NSString *_Nonnull)json;
-(void)writeLineModelData:(NSString *_Nonnull)uri;
-(void)readLineModelData:(NSString *_Nonnull)uri;

@end


#endif /* vlSDK_APPLE_h */