vlSDK.h

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// Copyright (c) Visometry GmbH.

#ifndef VL_SDK_H
#define VL_SDK_H

#include "vlSDKDef.h"
#include "vlSDKVersion.h"

struct vlImageWrapper_s;
typedef struct vlImageWrapper_s vlImageWrapper_t;

struct vlExtrinsicDataWrapper_s;
typedef struct vlExtrinsicDataWrapper_s vlExtrinsicDataWrapper_t;

struct vlSimilarityTransformWrapper_s;
typedef struct vlSimilarityTransformWrapper_s vlSimilarityTransformWrapper_t;

struct vlIntrinsicDataWrapper_s;
typedef struct vlIntrinsicDataWrapper_s vlIntrinsicDataWrapper_t;

struct vlCalibratedImageWrapper_s;
typedef struct vlCalibratedImageWrapper_s vlCalibratedImageWrapper_t;

struct vlWorker_s;
typedef struct vlWorker_s vlWorker_t;

typedef enum
{
    VL_LOG_MUTE = 0,
    VL_LOG_ERROR = 1,
    VL_LOG_WARNING = 2,
    VL_LOG_DEBUG = 3
} vlLogLevel;

typedef enum
{
    VL_RENDER_ROTATION_CCW_0 = 0,
    VL_RENDER_ROTATION_CCW_90 = 2,
    VL_RENDER_ROTATION_CCW_180 = 1,
    VL_RENDER_ROTATION_CCW_270 = 3,
} vlRenderRotation;

typedef enum
{
    VL_IMAGE_FORMAT_UNDEFINED = 0,
    VL_IMAGE_FORMAT_GREY = 1,
    VL_IMAGE_FORMAT_RGB = 2,
    VL_IMAGE_FORMAT_RGBA = 3,
    VL_IMAGE_FORMAT_DEPTH = 4,
} vlImageFormat;

typedef enum
{
    VL_FITTING_MODE_COVER = 0,
    VL_FITTING_MODE_CONTAIN = 1
} vlFittingMode;

typedef void (VL_CALLINGCONVENTION *vlCallbackZString)(
    const char data[], void* clientData);

typedef void (VL_CALLINGCONVENTION *vlCallbackJsonString)(
    const char error[], const char data[], void* clientData);

typedef void (VL_CALLINGCONVENTION *vlCallbackJsonAndBinaryString)(
    const char error[],
    const char result[],
    const char data[],
    unsigned int size,
    void* clientData);

typedef void (VL_CALLINGCONVENTION *vlCallbackImageWrapper)(
    vlImageWrapper_t* image, void* clientData);

typedef void (VL_CALLINGCONVENTION *vlCallbackExtrinsicDataWrapper)(
    vlExtrinsicDataWrapper_t* extrinsicData, void* clientData);
    
typedef void (VL_CALLINGCONVENTION *vlCallbackSimilarityTransformWrapper)(
    vlSimilarityTransformWrapper_t* similarityTransform, void* clientData);

typedef void (VL_CALLINGCONVENTION *vlCallbackIntrinsicDataWrapper)(
    vlIntrinsicDataWrapper_t* intrinsicData, void* clientData);

typedef void(VL_CALLINGCONVENTION* vlCallbackCalibratedImageWrapper)(
    vlCalibratedImageWrapper_t* calibratedImage,
    void* clientData);

#ifdef __cplusplus
extern "C"
{
#endif // __cplusplus

    VL_SDK_API unsigned int VL_CALLINGCONVENTION vlGetVersionMajor();

    VL_SDK_API unsigned int VL_CALLINGCONVENTION vlGetVersionMinor();

    VL_SDK_API unsigned int VL_CALLINGCONVENTION vlGetVersionRevision();
    VL_SDK_API bool VL_CALLINGCONVENTION vlGetVersionPostfix(
        char postfix[], unsigned int maxSize);
    VL_SDK_API bool VL_CALLINGCONVENTION vlGetVersionString(
        char version[], unsigned int maxSize);

    VL_SDK_API bool VL_CALLINGCONVENTION vlGetVersionHashString(
        char version[], unsigned int maxSize);

    VL_SDK_API bool VL_CALLINGCONVENTION vlGetVersionTimestampString(
        char versionTimeStamp[], unsigned int maxSize);
    
    VL_SDK_API bool VL_CALLINGCONVENTION vlGetHostId(
        char hostIdBuffer[], unsigned int maxSize);
    
    VL_SDK_API bool VL_CALLINGCONVENTION vlGetBundleId(
        char bundleIdBuffer[], unsigned int maxSize);

    VL_SDK_API bool VL_CALLINGCONVENTION vlAddLogListener(
        vlCallbackZString fn, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlRemoveLogListener(
        vlCallbackZString fn, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlClearLogListeners();

    VL_SDK_API void VL_CALLINGCONVENTION vlEnableLogBuffer();

    VL_SDK_API void VL_CALLINGCONVENTION vlDisableLogBuffer();

    VL_SDK_API void VL_CALLINGCONVENTION vlSetLogBufferSize(
        unsigned int maxEntries);

    VL_SDK_API bool VL_CALLINGCONVENTION vlFlushLogBuffer();

    VL_SDK_API int VL_CALLINGCONVENTION vlGetLogLevel();

    VL_SDK_API bool VL_CALLINGCONVENTION vlSetLogLevel(int level);

    VL_SDK_API bool VL_CALLINGCONVENTION vlLog(
        const char message[], int level);

    VL_SDK_API vlImageWrapper_t* VL_CALLINGCONVENTION vlNew_ImageWrapper(vlImageFormat imageFormat);

    VL_SDK_API vlImageWrapper_t* VL_CALLINGCONVENTION
        vlImageWrapper_Clone(vlImageWrapper_t* imageWrapper);

    VL_SDK_API void VL_CALLINGCONVENTION vlDelete_ImageWrapper(
        vlImageWrapper_t* imageWrapper);

    VL_SDK_API unsigned int VL_CALLINGCONVENTION vlImageWrapper_GetFormat(
        vlImageWrapper_t* imageWrapper);

    VL_SDK_API unsigned int VL_CALLINGCONVENTION
        vlImageWrapper_GetBytesPerPixel(
            vlImageWrapper_t* imageWrapper);

    VL_SDK_API unsigned int VL_CALLINGCONVENTION vlImageWrapper_GetWidth(
        vlImageWrapper_t* imageWrapper);

    VL_SDK_API unsigned int VL_CALLINGCONVENTION vlImageWrapper_GetHeight(
        vlImageWrapper_t* imageWrapper);


    VL_SDK_API bool VL_CALLINGCONVENTION vlImageWrapper_CopyToBuffer(
        vlImageWrapper_t* imageWrapper,
        unsigned char buffer[], unsigned int bufferSize);

    VL_SDK_API bool VL_CALLINGCONVENTION vlImageWrapper_CopyFromBuffer(
        vlImageWrapper_t* imageWrapper, const unsigned char buffer[],
        unsigned int width, unsigned int height);

    VL_SDK_API bool VL_CALLINGCONVENTION vlImageWrapper_CopyFromBufferWithFormat(
        vlImageWrapper_t* imageWrapper, const unsigned char buffer[],
        unsigned int width, unsigned int height,vlImageFormat imageFormat);
    
    VL_SDK_API vlExtrinsicDataWrapper_t* VL_CALLINGCONVENTION vlNew_ExtrinsicDataWrapper();

    VL_SDK_API vlExtrinsicDataWrapper_t* VL_CALLINGCONVENTION
        vlExtrinsicDataWrapper_Clone(vlExtrinsicDataWrapper_t* extrinsicDataWrapper);

    VL_SDK_API void VL_CALLINGCONVENTION vlDelete_ExtrinsicDataWrapper(
        vlExtrinsicDataWrapper_t* extrinsicDataWrapper);

    VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_GetValid(
        vlExtrinsicDataWrapper_t* extrinsicDataWrapper);

    VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_SetValid(
        vlExtrinsicDataWrapper_t* extrinsicDataWrapper, bool value);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlExtrinsicDataWrapper_GetModelViewMatrix(
            vlExtrinsicDataWrapper_t* extrinsicDataWrapper, float matrix[],
            unsigned int matrixElementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_GetT(
        vlExtrinsicDataWrapper_t* extrinsicDataWrapper, float t[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_SetT(
        vlExtrinsicDataWrapper_t* extrinsicDataWrapper, const float t[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_GetR(
        vlExtrinsicDataWrapper_t* extrinsicDataWrapper, float q[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_SetR(
        vlExtrinsicDataWrapper_t* extrinsicDataWrapper, const float q[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_GetCamPosWorld(
        vlExtrinsicDataWrapper_t* extrinsicDataWrapper, float t[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_SetCamPosWorld(
        vlExtrinsicDataWrapper_t* extrinsicDataWrapper, const float t[],
        unsigned int elementCount);

    VL_SDK_API vlSimilarityTransformWrapper_t* VL_CALLINGCONVENTION vlNew_SimilarityTransformWrapper();

    VL_SDK_API vlSimilarityTransformWrapper_t* VL_CALLINGCONVENTION
        vlSimilarityTransformWrapper_Clone(vlSimilarityTransformWrapper_t* similarityTransformWrapper);

    VL_SDK_API void VL_CALLINGCONVENTION vlDelete_SimilarityTransformWrapper(
        vlSimilarityTransformWrapper_t* similarityTransformWrapper);

    VL_SDK_API bool VL_CALLINGCONVENTION vlSimilarityTransformWrapper_GetValid(
        vlSimilarityTransformWrapper_t* similarityTransformWrapper);

    VL_SDK_API bool VL_CALLINGCONVENTION vlSimilarityTransformWrapper_SetValid(
        vlSimilarityTransformWrapper_t* similarityTransformWrapper, bool value);

    VL_SDK_API bool VL_CALLINGCONVENTION vlSimilarityTransformWrapper_GetT(
        vlSimilarityTransformWrapper_t* similarityTransformWrapper, float t[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlSimilarityTransformWrapper_SetT(
        vlSimilarityTransformWrapper_t* similarityTransformWrapper, const float t[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlSimilarityTransformWrapper_GetR(
        vlSimilarityTransformWrapper_t* similarityTransformWrapper, float q[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlSimilarityTransformWrapper_SetR(
        vlSimilarityTransformWrapper_t* similarityTransformWrapper, const float q[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlSimilarityTransformWrapper_SetS(
        vlSimilarityTransformWrapper_t* similarityTransformWrapper, float s);

    VL_SDK_API float VL_CALLINGCONVENTION vlSimilarityTransformWrapper_GetS(
        vlSimilarityTransformWrapper_t* similarityTransformWrapper);

    VL_SDK_API vlIntrinsicDataWrapper_t* VL_CALLINGCONVENTION vlNew_IntrinsicDataWrapper(
        unsigned int width,
        unsigned int height,
        double fxNorm,
        double fyNorm,
        double cxNorm,
        double cyNorm,
        double skewNorm);

    VL_SDK_API vlIntrinsicDataWrapper_t* VL_CALLINGCONVENTION
        vlIntrinsicDataWrapper_Clone(vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API void VL_CALLINGCONVENTION vlDelete_IntrinsicDataWrapper(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API unsigned int VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetWidth(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API unsigned int VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetHeight(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetFxNorm(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetFyNorm(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetSkewNorm(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetCxNorm(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetCyNorm(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API bool VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetCalibrated(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API double VL_CALLINGCONVENTION
        vlIntrinsicDataWrapper_GetCalibrationError(
            vlIntrinsicDataWrapper_t* intrinsicDataWrapper);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlIntrinsicDataWrapper_GetDistortionParameters(
            vlIntrinsicDataWrapper_t* intrinsicDataWrapper, double k[],
            unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlIntrinsicDataWrapper_GetRadialDistortion(
            vlIntrinsicDataWrapper_t* intrinsicDataWrapper, double k[],
            unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlIntrinsicDataWrapper_SetDistortionParameters(
            vlIntrinsicDataWrapper_t* intrinsicDataWrapper, const double k[],
            unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION vlIntrinsicDataWrapper_SetRadialDistortion(
        vlIntrinsicDataWrapper_t* intrinsicDataWrapper,
        const double k[],
        unsigned int elementCount);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlIntrinsicDataWrapper_GetProjectionMatrix(
            vlIntrinsicDataWrapper_t* intrinsicDataWrapper,
            float nearFact, float farFact, unsigned int screenWidth,
            unsigned int screenHeight, unsigned int renderRotation,
            unsigned int mode, float matrix[], unsigned int matrixElementCount);

    VL_SDK_API vlCalibratedImageWrapper_t* VL_CALLINGCONVENTION vlNew_CalibratedImageWrapper();

    VL_SDK_API vlCalibratedImageWrapper_t* VL_CALLINGCONVENTION
        vlCalibratedImageWrapper_Clone(vlCalibratedImageWrapper_t* calibratedImageWrapper);

    VL_SDK_API void VL_CALLINGCONVENTION
        vlDelete_CalibratedImageWrapper(vlCalibratedImageWrapper_t* calibratedImageWrapper);

    VL_SDK_API vlImageWrapper_t* VL_CALLINGCONVENTION
        vlCalibratedImageWrapper_GetImage(vlCalibratedImageWrapper_t* calibratedImageeWrapper);

    VL_SDK_API vlIntrinsicDataWrapper_t* VL_CALLINGCONVENTION
        vlCalibratedImageWrapper_GetIntrinsicData(
            vlCalibratedImageWrapper_t* calibratedImageWrapper);

    VL_SDK_API vlExtrinsicDataWrapper_t* VL_CALLINGCONVENTION
        vlCalibratedImageWrapper_GetImageFromDeviceTransform(
            vlCalibratedImageWrapper_t* calibratedImageWrapper);

    VL_SDK_API vlWorker_t* VL_CALLINGCONVENTION vlNew_Worker();

    VL_SDK_API vlWorker_t* VL_CALLINGCONVENTION vlNew_SyncWorker();

    VL_SDK_API void VL_CALLINGCONVENTION vlDelete_Worker(vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_Start(vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_Stop(vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RunOnceSync(
        vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_AddCameraCalibrationDB(vlWorker_t* worker, const char uri[]);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_ResetCameraCalibrationDB(vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_ProcessJsonCommandSync(
        vlWorker_t* worker, const char jsonString[],
        vlCallbackJsonString callback, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_ProcessJsonAndBinaryCommandSync(
        vlWorker_t* worker,
        const char jsonString[],
        const char data[],
        unsigned int size,
        vlCallbackJsonAndBinaryString callback,
        void* clientData);

    VL_SDK_API char* VL_CALLINGCONVENTION vlWorker_GetDeviceInfo(vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_SetLicenseFilePath(vlWorker_t* worker, const char licenseFilePath[]);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_SetLicenseFileData(vlWorker_t* worker, const char licenseFileData[]);

    VL_SDK_API char* VL_CALLINGCONVENTION vlWorker_GetLicenseInformation(
        vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_LoadPlugin(vlWorker_t* worker, const char pluginName[]);

    VL_SDK_API vlImageWrapper_t* VL_CALLINGCONVENTION vlWorker_GetImageSync(
        vlWorker_t* worker);
    
    VL_SDK_API vlImageWrapper_t* VL_CALLINGCONVENTION
    vlWorker_GetNodeImageSync(vlWorker_t* worker, const char node[], const char key[]);

    VL_SDK_API bool VL_CALLINGCONVENTION
    vlWorker_SetNodeImageSync(vlWorker_t* worker, vlImageWrapper_t* image, const char node[], const char key[]);
    
    VL_SDK_API vlExtrinsicDataWrapper_t* VL_CALLINGCONVENTION
        vlWorker_GetNodeExtrinsicDataSync(
        vlWorker_t* worker,
        const char node[],
        const char key[]);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_SetNodeExtrinsicDataSync(
        vlWorker_t* worker,
        vlExtrinsicDataWrapper_t* extrinsicData,
        const char node[],
        const char key[]);

    VL_SDK_API vlSimilarityTransformWrapper_t* VL_CALLINGCONVENTION
        vlWorker_GetNodeSimilarityTransformSync(
        vlWorker_t* worker,
        const char node[],
        const char key[]);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_SetNodeSimilarityTransformSync(
        vlWorker_t* worker,
        vlSimilarityTransformWrapper_t* similarityTransform,
        const char node[],
        const char key[]);

    VL_SDK_API vlIntrinsicDataWrapper_t* VL_CALLINGCONVENTION
        vlWorker_GetNodeIntrinsicDataSync(
        vlWorker_t* worker,
        const char node[],
        const char key[]);
        
    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_SetNodeIntrinsicDataSync(
        vlWorker_t* worker,
        vlIntrinsicDataWrapper_t* intrinsicData,
        const char node[],
        const char key[]);
    
    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_IsRunning(
        vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_PushJsonCommand(
        vlWorker_t* worker, const char jsonString[],
        vlCallbackJsonString callback, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_PushJsonAndBinaryCommand(
        vlWorker_t* worker, const char jsonString[], const char data[],
        unsigned int size, vlCallbackJsonAndBinaryString callback,
        void* clientData);

    VL_SDK_API void VL_CALLINGCONVENTION vlReleaseBinaryBuffer(const char data[]);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_ProcessCallbacks(
        vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_AddImageListener(
        vlWorker_t* worker, vlCallbackImageWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RemoveImageListener(
        vlWorker_t* worker, vlCallbackImageWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_AddDebugImageListener(
        vlWorker_t* worker,
        vlCallbackImageWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RemoveDebugImageListener(
        vlWorker_t* worker,
        vlCallbackImageWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_AddExtrinsicDataListener(
        vlWorker_t* worker, vlCallbackExtrinsicDataWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RemoveExtrinsicDataListener(
        vlWorker_t* worker, vlCallbackExtrinsicDataWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_AddIntrinsicDataListener(
        vlWorker_t* worker, vlCallbackIntrinsicDataWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RemoveIntrinsicDataListener(
        vlWorker_t* worker, vlCallbackIntrinsicDataWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_AddCalibratedImageListener(
        vlWorker_t* worker,
        vlCallbackCalibratedImageWrapper listener,
        void* clientData,
        vlImageFormat format);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RemoveCalibratedImageListener(
        vlWorker_t* worker,
        vlCallbackCalibratedImageWrapper listener,
        void* clientData,
        vlImageFormat format);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_AddTrackingStateListener(
        vlWorker_t* worker, vlCallbackZString listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RemoveTrackingStateListener(
        vlWorker_t* worker, vlCallbackZString listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_AddPerformanceInfoListener(
        vlWorker_t* worker, vlCallbackZString listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RemovePerformanceInfoListener(
        vlWorker_t* worker, vlCallbackZString listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION 
        vlWorker_AddWorldFromAnchorTransformListener(
        vlWorker_t* worker,
        const char anchorName[],
        vlCallbackSimilarityTransformWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION 
        vlWorker_RemoveWorldFromAnchorTransformListener(
        vlWorker_t* worker,
        const char anchorName[],
        vlCallbackSimilarityTransformWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_AddWorldFromCameraTransformListener(
        vlWorker_t* worker,
        vlCallbackExtrinsicDataWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RemoveWorldFromCameraTransformListener(
        vlWorker_t* worker,
        vlCallbackExtrinsicDataWrapper listener,
        void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_AddNodeDataImageListener(
        vlWorker_t* worker, const char node[], const char key[],
        vlCallbackImageWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_RemoveNodeDataImageListener(
        vlWorker_t* worker, const char node[], const char key[],
        vlCallbackImageWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_AddNodeDataExtrinsicDataListener(
            vlWorker_t* worker, const char node[], const char key[],
            vlCallbackExtrinsicDataWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_RemoveNodeDataExtrinsicDataListener(
            vlWorker_t* worker, const char node[], const char key[],
            vlCallbackExtrinsicDataWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_AddNodeDataSimilarityTransformListener(
            vlWorker_t* worker, const char node[], const char key[],
            vlCallbackSimilarityTransformWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_RemoveNodeDataSimilarityTransformListener(
            vlWorker_t* worker, const char node[], const char key[],
            vlCallbackSimilarityTransformWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_AddNodeDataIntrinsicDataListener(
            vlWorker_t* worker, const char node[], const char key[],
            vlCallbackIntrinsicDataWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_RemoveNodeDataIntrinsicDataListener(
            vlWorker_t* worker, const char node[], const char key[],
            vlCallbackIntrinsicDataWrapper listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_AddNodeTrackingStateListener(vlWorker_t* worker,
            const char node[], vlCallbackZString listener, void* clientData);

    VL_SDK_API char* VL_CALLINGCONVENTION
        vlWorker_GetNodeTrackingStateJsonSync(vlWorker_t* worker, const char node[]);

    VL_SDK_API bool VL_CALLINGCONVENTION
        vlWorker_RemoveNodeTrackingStateListener(vlWorker_t* worker,
            const char node[], vlCallbackZString listener, void* clientData);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_ClearListeners(
        vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_PollEvents(
        vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_WaitEvents(
        vlWorker_t* worker, unsigned int timeout);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_Lock(vlWorker_t* worker);

    VL_SDK_API bool VL_CALLINGCONVENTION vlWorker_Unlock(vlWorker_t* worker);

     VL_SDK_API char* VL_CALLINGCONVENTION vlSDKUtil_get(
        const char *uri, unsigned long *size, const char *options=0);

     VL_SDK_API bool VL_CALLINGCONVENTION vlSDKUtil_set(
        const char* uri, const void* data, unsigned long size,
        const char* options=0);

     VL_SDK_API bool VL_CALLINGCONVENTION
         vlSDKUtil_registerScheme(const char* name, const char* uri);

     VL_SDK_API bool VL_CALLINGCONVENTION vlSDKUtil_getTempFilename(
        const char* prefName, char *newName, unsigned int maxSize);

     VL_SDK_API char* VL_CALLINGCONVENTION
         vlSDKUtil_getCameraPositionsFromGeometry(const char* geometryJson, unsigned long* size);

     VL_SDK_API char* VL_CALLINGCONVENTION vlSDKUtil_getCameraPositionsFromWorkspaceDefinition(
         const char* workspaceJson,
         unsigned long* size);

     VL_SDK_API char* VL_CALLINGCONVENTION
         vlSDKUtil_getOriginTransformFromSimpleWorkspaceDefinition(
             const char* workspaceJson,
             unsigned long* size);

     VL_SDK_API char* VL_CALLINGCONVENTION
         vlSDKUtil_getCameraTransformsFromWorkspaceDefinition(
             const char* workspaceJson,
             unsigned long* size);

     VL_SDK_API double VL_CALLINGCONVENTION
         vlSDKUtil_getPosterQuality(
        vlImageWrapper_t* imageWrapper);

     VL_SDK_API bool VL_CALLINGCONVENTION vlSDKUtil_systemHasExternalSLAM();

     VL_SDK_API bool VL_CALLINGCONVENTION vlSDKUtil_retrievePhysicalPath(
         const char uri[],
         char physicalPath[],
         unsigned int maxSize);

    VL_SDK_API bool VL_CALLINGCONVENTION vlSDKUtil_getModelHash(
        const char modelURI[],
        char modelHash[],
        unsigned int maxSize);

    VL_SDK_API const char* VL_CALLINGCONVENTION
        vlSDKUtil_loadModel(const char* uri, const char** json, unsigned long* size);

    VL_SDK_API bool VL_CALLINGCONVENTION vlSDKUtil_getModelHashFromSerializedModel(
        const char modelDescriptionJson[],
        const char modelData[],
        unsigned int modelDataSize,
        char modelHash[],
        unsigned int maxSize);

#ifdef __cplusplus
}
#endif // __cplusplus

#endif // VL_SDK_H