The base class for all types of TrackingManager. More...

Inherits MonoBehaviour, Visometry.VisionLib.SDK.Core.IParameterHandler, and Visometry.VisionLib.SDK.Core.Details.ISceneValidationCheck.

Inherited by Visometry.VisionLib.SDK.Core.AsynchronousTrackingManager, and Visometry.VisionLib.SDK.Core.SynchronousTrackingManager.

Data Structures
class	WorkerNotFoundException

Public Types
enum	ImageStream

Public Member Functions
bool	ActiveInBackend ()

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 ()

async Task< T >	GetParameterAsync< T > (string parameterName)

Texture2D	GetStreamTexture (ImageStream streamType)

bool	GetTrackerInitialized ()
	This variable stores the state of the trackerInitialized variable before it is Disabled. More...

TrackerRuntimeParameters	GetTrackerRuntimeParameters ()

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...

bool	HasWorker ()
	Check if the Worker has already been created. If you depend on the Worker, you can register to the OnWorkerCreated event, if this function returns false. 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. More...

async Task	PauseTrackingAsync ()
	Pause the tracking.

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

void	ResetAnchorTransformListener (string anchorName)

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

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

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

async Task	ResumeTrackingAsync ()
	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	SetImageSourceEnabled (bool newValue)

Task< WorkerCommands.CommandWarnings >	SetParameterAsync (string parameterName, string parameterValue)

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). More...

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

bool	ActiveInBackend ()

Task< T >	GetParameterAsync< T > (string parameterName)

Task< WorkerCommands.CommandWarnings >	SetParameterAsync (string parameterName, string parameterValue)

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 async void	CatchCommandErrors (Task< WorkerCommands.CommandWarnings > 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 bool	DoesTrackerExistAndIsInitialized ()
	Returns true if the tracker is initialized. If no instance of the tracking manager exists (yet / anymore) this will More...

static bool	DoesTrackerExistAndIsRunning ()
	Returns true if the tracker is running. If no instance of the tracking manager exists (yet / anymore) this will More...

static void	EmitEvents (Frame frame)

static void	InvokeOnTrackerResetHard ()

static void	InvokeOnTrackerResetSoft ()

Data Fields
string	calibrationDataBaseURI

LicenseFile	licenseFile
	Path to 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
virtual void	Awake ()

void	CreateLogger ()

abstract void	CreateWorker ()

virtual void	Initialize ()

virtual void	OnDestroy ()

virtual void	OnDisable ()

virtual void	OnEnable ()

void	PauseTrackingInternal ()
	Pause the tracking. Does not modify the `trackingRunning` variable. More...

abstract void	RegisterListeners ()

abstract void	RegisterTrackerListeners ()

async Task	ResetTrackingHardAsync ()

async Task	ResetTrackingSoftAsync ()

abstract bool	ShouldShowMark ()

abstract bool	TryAddDebugImageListener ()

abstract bool	TryRemoveDebugImageListener ()

void	UnregisterAllAnchorTransformListeners ()

abstract void	UnregisterListeners ()

abstract void	UnregisterTrackerListeners ()

virtual void	Update ()

abstract void	UpdateAnchorTransformListeners ()

Static Protected Member Functions
static void	EmitOnCalibratedDepthImageWhenValid (CalibratedImage calibratedImage)

static void	EmitOnCameraTransform (ExtrinsicData extrinsicData)

static void	EmitOnDebugImage (Image debugImage)

static void	EmitOnExtrinsicData (ExtrinsicData extrinsicData)

static void	EmitOnImage (Image image)

static void	EmitOnIntrinsicData (IntrinsicData intrinsicData)

static void	EmitOnPerformanceInfo (PerformanceInfo performanceInfo)

static void	EmitOnTrackingStatesWhenValid (TrackingState state)

static void	TriggerIssue (Issue issue)

static void	TriggerWarnings (WorkerCommands.CommandWarnings warnings, MonoBehaviour caller=null)

Protected Attributes
Dictionary< string, IDisposable >	anchorTransformListeners

bool	trackerInitialized = false

Worker	worker = null

object	workerLock = new object()

bool	worldFromCameraTransformListenerRegistered = false

Static Protected Attributes
static SingletonObjectReference< TrackingManager >	instance

Properties
static TrackingManager	Instance `[get]`
	Get a reference to the TrackingManager in the scene. More...

Worker	Worker `[get]`
	Get a reference to the Worker owned by a TrackingManager. More...

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.

Detailed Description

The base class for all types of TrackingManager.

Member Function Documentation

◆ ActiveInBackend()

bool Visometry.VisionLib.SDK.Core.TrackingManager.ActiveInBackend ( )

inline

Implements Visometry.VisionLib.SDK.Core.IParameterHandler.

◆ 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() [1/2]

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.

◆ CatchCommandErrors() [2/2]

static async void Visometry.VisionLib.SDK.Core.TrackingManager.CatchCommandErrors	(	Task< WorkerCommands.CommandWarnings >	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.

◆ DoesTrackerExistAndIsInitialized()

static bool Visometry.VisionLib.SDK.Core.TrackingManager.DoesTrackerExistAndIsInitialized ( )

inlinestatic

Returns true if the tracker is initialized. If no instance of the tracking manager exists (yet / anymore) this will

also return false and not throw an exception.

◆ DoesTrackerExistAndIsRunning()

static bool Visometry.VisionLib.SDK.Core.TrackingManager.DoesTrackerExistAndIsRunning ( )

inlinestatic

Returns true if the tracker is running. If no instance of the tracking manager exists (yet / anymore) this will

also return false and not throw an exception.

◆ 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

◆ GetParameterAsync< T >()

async Task< T > Visometry.VisionLib.SDK.Core.TrackingManager.GetParameterAsync< T > ( string parameterName )

inline

Implements Visometry.VisionLib.SDK.Core.IParameterHandler.

◆ GetTrackerInitialized()

bool Visometry.VisionLib.SDK.Core.TrackingManager.GetTrackerInitialized ( )

inline

This variable stores the state of the trackerInitialized variable before it is Disabled.

Some MonoBehaviours request the trackerInitialized state in their OnEnable function. If OnEnable is called for several GameObjects, the execution order can not be influenced. This is especially the case when recompiling during play mode. For this reason, we store the trackerInitialized state in this variable and set trackerInitialized to false in OnDisable. In OnEnable, we reset the value of trackerInitialized back to the original value. This way, any MonoBehaviour re-enabled before the TrackingManager will assume the TrackingManager as uninitialized. At the moment, if the scripts are recompiled, TrackingManager will be uninitialized afterwards.

◆ 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.

◆ HasWorker()

bool Visometry.VisionLib.SDK.Core.TrackingManager.HasWorker ( )

inline

Check if the Worker has already been created. If you depend on the Worker, you can register to the OnWorkerCreated event, if this function returns false.

Returns: true, if the Worker can be used, false otherwise.

Parameters

newFPS Number of frames per second

◆ SetParameterAsync()

Task< WorkerCommands.CommandWarnings > Visometry.VisionLib.SDK.Core.TrackingManager.SetParameterAsync	(	string	parameterName,
		string	parameterValue
	)

inline

Implements Visometry.VisionLib.SDK.Core.IParameterHandler.

◆ 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

◆ StopTracking()

virtual void Visometry.VisionLib.SDK.Core.TrackingManager.StopTracking ( )

inlinevirtual

Stop the tracking (releases all tracking resources).

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

◆ 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

◆ anchorTransformListeners

Dictionary<string, IDisposable> Visometry.VisionLib.SDK.Core.TrackingManager.anchorTransformListeners

protected

Initial value:

=

new Dictionary<string, IDisposable>()

◆ instance

SingletonObjectReference<TrackingManager> Visometry.VisionLib.SDK.Core.TrackingManager.instance

staticprotected

Initial value:

=

new SingletonObjectReference<TrackingManager>()

◆ 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.

Property Documentation

◆ Instance

TrackingManager Visometry.VisionLib.SDK.Core.TrackingManager.Instance

staticget

Get a reference to the TrackingManager in the scene.

Usage:

var thisScenesTrackingManager = TrackingManager.Instance;

◆ Worker

Worker Visometry.VisionLib.SDK.Core.TrackingManager.Worker

get

Get a reference to the Worker owned by a TrackingManager.

Usage for direct access to the Worker in the current scene via the TrackingManager's static Instance property:

var thisScenesWorker = TrackingManager.Instance.Worker;

Usage for access via a reference to a specific TrackingManager:

var worker = someTrackingManager.Worker;

documentation

Data Structures

Public Types

Public Member Functions

Static Public Member Functions

Data Fields

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Properties

Events

Detailed Description

Member Function Documentation

◆ ActiveInBackend()

◆ AddCameraCalibrationDB()

◆ CalibratedImageAction()

◆ CatchCommandErrors() [1/2]

◆ CatchCommandErrors() [2/2]

◆ DoesTrackerExistAndIsInitialized()

◆ DoesTrackerExistAndIsRunning()

◆ ExtrinsicDataAction()

◆ GetDeviceInfo()

◆ GetDeviceType()

◆ GetParameterAsync< T >()

◆ GetTrackerInitialized()

◆ GetTrackerType() [1/2]

◆ GetTrackerType() [2/2]

◆ GetWorker()

◆ HasWorker()

◆ ImageAction()

◆ IntrinsicDataAction()

◆ IssueTriggeredAction()

◆ PauseTracking()

◆ PauseTrackingInternal()

◆ PerformanceInfoAction()

◆ ResetTrackingHard()

◆ ResetTrackingSoft()

◆ ResumeTracking()

◆ SetFPS()

◆ SetParameterAsync()

◆ SetWaitForEvents()

◆ StartTracking()

◆ StartTrackingFromString()

◆ StopTracking()

◆ TrackingStatesAction()

Field Documentation

◆ anchorTransformListeners

◆ instance

◆ logLevel

◆ targetFPS

◆ waitForEvents

Property Documentation

◆ Instance

◆ Worker