@zappar/zappar-cv 2.1.4 → 3.0.0-alpha.2

package/lib/gen/zappar-cwrap.js

@@ -38,14 +38,30 @@ export function getRuntimeObject(mod) {
         "number",
         "number", "number", "number", "number"
     ]);
+    let pipeline_motion_accelerometer_with_gravity_submit_int_wrapped = mod.cwrap("zappar_pipeline_motion_accelerometer_with_gravity_submit_int", null, [
+        "number",
+        "number", "number", "number", "number", "number"
+    ]);
+    let pipeline_motion_accelerometer_without_gravity_submit_int_wrapped = mod.cwrap("zappar_pipeline_motion_accelerometer_without_gravity_submit_int", null, [
+        "number",
+        "number", "number", "number", "number", "number"
+    ]);
     let pipeline_motion_rotation_rate_submit_wrapped = mod.cwrap("zappar_pipeline_motion_rotation_rate_submit", null, [
         "number",
         "number", "number", "number", "number"
     ]);
+    let pipeline_motion_rotation_rate_submit_int_wrapped = mod.cwrap("zappar_pipeline_motion_rotation_rate_submit_int", null, [
+        "number",
+        "number", "number", "number", "number", "number"
+    ]);
     let pipeline_motion_attitude_submit_wrapped = mod.cwrap("zappar_pipeline_motion_attitude_submit", null, [
         "number",
         "number", "number", "number", "number"
     ]);
+    let pipeline_motion_attitude_submit_int_wrapped = mod.cwrap("zappar_pipeline_motion_attitude_submit_int", null, [
+        "number",
+        "number", "number", "number", "number", "number"
+    ]);
     let pipeline_motion_attitude_matrix_submit_wrapped = mod.cwrap("zappar_pipeline_motion_attitude_matrix_submit", null, [
         "number",
         "number"
@@ -170,6 +186,40 @@ export function getRuntimeObject(mod) {
         "number",
         "number", "number", "number", "number"
     ]);
+    let world_tracker_create_wrapped = mod.cwrap("zappar_world_tracker_create", "number", ["number"]);
+    let world_tracker_destroy_wrapped = mod.cwrap("zappar_world_tracker_destroy", null, ["number"]);
+    let world_tracker_enabled_wrapped = mod.cwrap("zappar_world_tracker_enabled", "number", [
+        "number"
+    ]);
+    let world_tracker_enabled_set_wrapped = mod.cwrap("zappar_world_tracker_enabled_set", null, [
+        "number",
+        "number"
+    ]);
+    let world_tracker_quality_wrapped = mod.cwrap("zappar_world_tracker_quality", "number", [
+        "number"
+    ]);
+    let world_tracker_plane_count_wrapped = mod.cwrap("zappar_world_tracker_plane_count", "number", [
+        "number"
+    ]);
+    let world_tracker_plane_pose_raw_wrapped = mod.cwrap("zappar_world_tracker_plane_pose_raw", "number", [
+        "number",
+        "number"
+    ]);
+    let world_tracker_world_anchor_valid_wrapped = mod.cwrap("zappar_world_tracker_world_anchor_valid", "number", [
+        "number"
+    ]);
+    let world_tracker_world_anchor_pose_raw_wrapped = mod.cwrap("zappar_world_tracker_world_anchor_pose_raw", "number", [
+        "number"
+    ]);
+    let world_tracker_ground_anchor_valid_wrapped = mod.cwrap("zappar_world_tracker_ground_anchor_valid", "number", [
+        "number"
+    ]);
+    let world_tracker_ground_anchor_pose_raw_wrapped = mod.cwrap("zappar_world_tracker_ground_anchor_pose_raw", "number", [
+        "number"
+    ]);
+    let world_tracker_reset_wrapped = mod.cwrap("zappar_world_tracker_reset", null, [
+        "number"
+    ]);
     let dataArrayArgLength = 32;
     let dataArrayArg = mod._malloc(dataArrayArgLength);
     let floatDataArrayArgLength = 16 * 4;
@@ -284,6 +334,24 @@ export function getRuntimeObject(mod) {
             let ret = pipeline_motion_accelerometer_submit_wrapped(o, arg_time, arg_x, arg_y, arg_z);
             return ret;
         },
+        pipeline_motion_accelerometer_with_gravity_submit_int: (o, time, interval, x, y, z) => {
+            let arg_time = time;
+            let arg_interval = interval;
+            let arg_x = x;
+            let arg_y = y;
+            let arg_z = z;
+            let ret = pipeline_motion_accelerometer_with_gravity_submit_int_wrapped(o, arg_time, arg_interval, arg_x, arg_y, arg_z);
+            return ret;
+        },
+        pipeline_motion_accelerometer_without_gravity_submit_int: (o, time, interval, x, y, z) => {
+            let arg_time = time;
+            let arg_interval = interval;
+            let arg_x = x;
+            let arg_y = y;
+            let arg_z = z;
+            let ret = pipeline_motion_accelerometer_without_gravity_submit_int_wrapped(o, arg_time, arg_interval, arg_x, arg_y, arg_z);
+            return ret;
+        },
         pipeline_motion_rotation_rate_submit: (o, time, x, y, z) => {
             let arg_time = time;
             let arg_x = x;
@@ -292,6 +360,15 @@ export function getRuntimeObject(mod) {
             let ret = pipeline_motion_rotation_rate_submit_wrapped(o, arg_time, arg_x, arg_y, arg_z);
             return ret;
         },
+        pipeline_motion_rotation_rate_submit_int: (o, time, interval, x, y, z) => {
+            let arg_time = time;
+            let arg_interval = interval;
+            let arg_x = x;
+            let arg_y = y;
+            let arg_z = z;
+            let ret = pipeline_motion_rotation_rate_submit_int_wrapped(o, arg_time, arg_interval, arg_x, arg_y, arg_z);
+            return ret;
+        },
         pipeline_motion_attitude_submit: (o, time, x, y, z) => {
             let arg_time = time;
             let arg_x = x;
@@ -300,6 +377,15 @@ export function getRuntimeObject(mod) {
             let ret = pipeline_motion_attitude_submit_wrapped(o, arg_time, arg_x, arg_y, arg_z);
             return ret;
         },
+        pipeline_motion_attitude_submit_int: (o, time, interval, x, y, z) => {
+            let arg_time = time;
+            let arg_interval = interval;
+            let arg_x = x;
+            let arg_y = y;
+            let arg_z = z;
+            let ret = pipeline_motion_attitude_submit_int_wrapped(o, arg_time, arg_interval, arg_x, arg_y, arg_z);
+            return ret;
+        },
         pipeline_motion_attitude_matrix_submit: (o, mat) => {
             let arg_mat = getFloatDataArrayForArgIndex(0, mat.byteLength);
             mod.HEAPF32.set(mat, arg_mat / 4);
@@ -531,5 +617,66 @@ export function getRuntimeObject(mod) {
             let ret = instant_world_tracker_anchor_pose_set_from_camera_offset_raw_wrapped(o, arg_x, arg_y, arg_z, arg_orientation);
             return ret;
         },
+        world_tracker_create: (pipeline) => {
+            let arg_pipeline = pipeline;
+            return world_tracker_create_wrapped(arg_pipeline);
+        },
+        world_tracker_destroy: () => {
+            world_tracker_destroy_wrapped();
+        },
+        world_tracker_enabled: (o) => {
+            let ret = world_tracker_enabled_wrapped(o);
+            ret = ret === 1;
+            return ret;
+        },
+        world_tracker_enabled_set: (o, enabled) => {
+            let arg_enabled = enabled ? 1 : 0;
+            let ret = world_tracker_enabled_set_wrapped(o, arg_enabled);
+            return ret;
+        },
+        world_tracker_quality: (o) => {
+            let ret = world_tracker_quality_wrapped(o);
+            return ret;
+        },
+        world_tracker_plane_count: (o) => {
+            let ret = world_tracker_plane_count_wrapped(o);
+            return ret;
+        },
+        world_tracker_plane_pose_raw: (o, indx) => {
+            let arg_indx = indx;
+            let ret = world_tracker_plane_pose_raw_wrapped(o, arg_indx);
+            let ab = new Float32Array(16);
+            ab.set(mod.HEAPF32.subarray(ret / 4, 16 + ret / 4));
+            ret = ab;
+            return ret;
+        },
+        world_tracker_world_anchor_valid: (o) => {
+            let ret = world_tracker_world_anchor_valid_wrapped(o);
+            ret = ret === 1;
+            return ret;
+        },
+        world_tracker_world_anchor_pose_raw: (o) => {
+            let ret = world_tracker_world_anchor_pose_raw_wrapped(o);
+            let ab = new Float32Array(16);
+            ab.set(mod.HEAPF32.subarray(ret / 4, 16 + ret / 4));
+            ret = ab;
+            return ret;
+        },
+        world_tracker_ground_anchor_valid: (o) => {
+            let ret = world_tracker_ground_anchor_valid_wrapped(o);
+            ret = ret === 1;
+            return ret;
+        },
+        world_tracker_ground_anchor_pose_raw: (o) => {
+            let ret = world_tracker_ground_anchor_pose_raw_wrapped(o);
+            let ab = new Float32Array(16);
+            ab.set(mod.HEAPF32.subarray(ret / 4, 16 + ret / 4));
+            ret = ab;
+            return ret;
+        },
+        world_tracker_reset: (o) => {
+            let ret = world_tracker_reset_wrapped(o);
+            return ret;
+        },
     };
 }

package/lib/gen/zappar-native.d.ts

@@ -61,6 +61,11 @@ export declare enum image_target_type_t {
     IMAGE_TRACKER_TYPE_CYLINDRICAL = 1,
     IMAGE_TRACKER_TYPE_CONICAL = 2
 }
+export declare enum world_tracker_quality_t {
+    WORLD_TRACKER_QUALITY_INITIALIZING = 0,
+    WORLD_TRACKER_QUALITY_GOOD = 1,
+    WORLD_TRACKER_QUALITY_ORIENTATION_ONLY = 2
+}
 export declare type zappar_pipeline_t = number & {
     _: 'zappar_pipeline_t';
 };
@@ -88,6 +93,9 @@ export declare type zappar_barcode_finder_t = number & {
 export declare type zappar_instant_world_tracker_t = number & {
     _: 'zappar_instant_world_tracker_t';
 };
+export declare type zappar_world_tracker_t = number & {
+    _: 'zappar_world_tracker_t';
+};
 export interface zappar_cwrap {
     log_level(): log_level_t;
     log_level_set(level: log_level_t): void;
@@ -103,8 +111,12 @@ export interface zappar_cwrap {
     pipeline_camera_frame_camera_attitude(o: zappar_pipeline_t): Float32Array;
     pipeline_camera_frame_device_attitude(o: zappar_pipeline_t): Float32Array;
     pipeline_motion_accelerometer_submit(o: zappar_pipeline_t, time: number, x: number, y: number, z: number): void;
+    pipeline_motion_accelerometer_with_gravity_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
+    pipeline_motion_accelerometer_without_gravity_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
     pipeline_motion_rotation_rate_submit(o: zappar_pipeline_t, time: number, x: number, y: number, z: number): void;
+    pipeline_motion_rotation_rate_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
     pipeline_motion_attitude_submit(o: zappar_pipeline_t, time: number, x: number, y: number, z: number): void;
+    pipeline_motion_attitude_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
     pipeline_motion_attitude_matrix_submit(o: zappar_pipeline_t, mat: Float32Array): void;
     camera_source_create(pipeline: zappar_pipeline_t, device_id: string): zappar_camera_source_t;
     camera_source_destroy(o: zappar_camera_source_t): void;
@@ -151,4 +163,16 @@ export interface zappar_cwrap {
     instant_world_tracker_enabled(o: zappar_instant_world_tracker_t): boolean;
     instant_world_tracker_anchor_pose_raw(o: zappar_instant_world_tracker_t): Float32Array;
     instant_world_tracker_anchor_pose_set_from_camera_offset_raw(o: zappar_instant_world_tracker_t, x: number, y: number, z: number, orientation: instant_world_tracker_transform_orientation_t): void;
+    world_tracker_create(pipeline: zappar_pipeline_t): zappar_world_tracker_t;
+    world_tracker_destroy(o: zappar_world_tracker_t): void;
+    world_tracker_enabled(o: zappar_world_tracker_t): boolean;
+    world_tracker_enabled_set(o: zappar_world_tracker_t, enabled: boolean): void;
+    world_tracker_quality(o: zappar_world_tracker_t): number;
+    world_tracker_plane_count(o: zappar_world_tracker_t): number;
+    world_tracker_plane_pose_raw(o: zappar_world_tracker_t, indx: number): Float32Array;
+    world_tracker_world_anchor_valid(o: zappar_world_tracker_t): boolean;
+    world_tracker_world_anchor_pose_raw(o: zappar_world_tracker_t): Float32Array;
+    world_tracker_ground_anchor_valid(o: zappar_world_tracker_t): boolean;
+    world_tracker_ground_anchor_pose_raw(o: zappar_world_tracker_t): Float32Array;
+    world_tracker_reset(o: zappar_world_tracker_t): void;
 }

package/lib/gen/zappar-native.js

@@ -73,3 +73,10 @@ export var image_target_type_t;
     image_target_type_t[image_target_type_t["IMAGE_TRACKER_TYPE_CONICAL"] = 2] = "IMAGE_TRACKER_TYPE_CONICAL";
 })(image_target_type_t || (image_target_type_t = {}));
 ;
+export var world_tracker_quality_t;
+(function (world_tracker_quality_t) {
+    world_tracker_quality_t[world_tracker_quality_t["WORLD_TRACKER_QUALITY_INITIALIZING"] = 0] = "WORLD_TRACKER_QUALITY_INITIALIZING";
+    world_tracker_quality_t[world_tracker_quality_t["WORLD_TRACKER_QUALITY_GOOD"] = 1] = "WORLD_TRACKER_QUALITY_GOOD";
+    world_tracker_quality_t[world_tracker_quality_t["WORLD_TRACKER_QUALITY_ORIENTATION_ONLY"] = 2] = "WORLD_TRACKER_QUALITY_ORIENTATION_ONLY";
+})(world_tracker_quality_t || (world_tracker_quality_t = {}));
+;

package/lib/gen/zappar-server.d.ts

@@ -9,6 +9,7 @@ import { zappar_face_mesh_t } from "./zappar-native";
 import { zappar_face_landmark_t } from "./zappar-native";
 import { zappar_barcode_finder_t } from "./zappar-native";
 import { zappar_instant_world_tracker_t } from "./zappar-native";
+import { zappar_world_tracker_t } from "./zappar-native";
 export declare class zappar_server {
     private _impl;
     private _sender;
@@ -33,6 +34,8 @@ export declare class zappar_server {
     _barcode_finder_by_instance: Map<number, zappar_barcode_finder_t>;
     _pipeline_id_by_instant_world_tracker_id: Map<number, number>;
     _instant_world_tracker_by_instance: Map<number, zappar_instant_world_tracker_t>;
+    _pipeline_id_by_world_tracker_id: Map<number, number>;
+    _world_tracker_by_instance: Map<number, zappar_world_tracker_t>;
     processBuffer(b: ArrayBuffer): void;
     exploreState(): void;
 }

package/lib/gen/zappar-server.js

@@ -24,20 +24,22 @@ export class zappar_server {
         this._barcode_finder_by_instance = new Map();
         this._pipeline_id_by_instant_world_tracker_id = new Map();
         this._instant_world_tracker_by_instance = new Map();
+        this._pipeline_id_by_world_tracker_id = new Map();
+        this._world_tracker_by_instance = new Map();
     }
     processBuffer(b) {
         this._deserializer.setData(b);
         this._deserializer.forMessages((messageId, msg) => {
             switch (messageId) {
-                case 34: {
+                case 38: {
                     this._impl.log_level_set(msg.logLevel());
                     break;
                 }
-                case 31: {
+                case 35: {
                     this._impl.analytics_project_id_set(msg.string(), msg.string());
                     break;
                 }
-                case 27: {
+                case 31: {
                     let clientId = msg.type();
                     let handle = this._impl.pipeline_create();
                     this._pipeline_by_instance.set(clientId, handle);
@@ -47,7 +49,7 @@ export class zappar_server {
                     }));
                     break;
                 }
-                case 28: {
+                case 32: {
                     let clientId = msg.type();
                     let obj = this._pipeline_by_instance.get(clientId);
                     if (obj === undefined)
@@ -80,7 +82,23 @@ export class zappar_server {
                     this._impl.pipeline_motion_accelerometer_submit(obj, msg.timestamp(), msg.float(), msg.float(), msg.float());
                     break;
                 }
+                case 12: {
+                    let clientId = msg.type();
+                    let obj = this._pipeline_by_instance.get(clientId);
+                    if (obj === undefined)
+                        return;
+                    this._impl.pipeline_motion_accelerometer_with_gravity_submit_int(obj, msg.timestamp(), msg.timestamp(), msg.float(), msg.float(), msg.float());
+                    break;
+                }
                 case 11: {
+                    let clientId = msg.type();
+                    let obj = this._pipeline_by_instance.get(clientId);
+                    if (obj === undefined)
+                        return;
+                    this._impl.pipeline_motion_accelerometer_without_gravity_submit_int(obj, msg.timestamp(), msg.timestamp(), msg.float(), msg.float(), msg.float());
+                    break;
+                }
+                case 15: {
                     let clientId = msg.type();
                     let obj = this._pipeline_by_instance.get(clientId);
                     if (obj === undefined)
@@ -88,7 +106,15 @@ export class zappar_server {
                     this._impl.pipeline_motion_rotation_rate_submit(obj, msg.timestamp(), msg.float(), msg.float(), msg.float());
                     break;
                 }
-                case 12: {
+                case 13: {
+                    let clientId = msg.type();
+                    let obj = this._pipeline_by_instance.get(clientId);
+                    if (obj === undefined)
+                        return;
+                    this._impl.pipeline_motion_rotation_rate_submit_int(obj, msg.timestamp(), msg.timestamp(), msg.float(), msg.float(), msg.float());
+                    break;
+                }
+                case 16: {
                     let clientId = msg.type();
                     let obj = this._pipeline_by_instance.get(clientId);
                     if (obj === undefined)
@@ -96,7 +122,15 @@ export class zappar_server {
                     this._impl.pipeline_motion_attitude_submit(obj, msg.timestamp(), msg.float(), msg.float(), msg.float());
                     break;
                 }
-                case 13: {
+                case 14: {
+                    let clientId = msg.type();
+                    let obj = this._pipeline_by_instance.get(clientId);
+                    if (obj === undefined)
+                        return;
+                    this._impl.pipeline_motion_attitude_submit_int(obj, msg.timestamp(), msg.timestamp(), msg.float(), msg.float(), msg.float());
+                    break;
+                }
+                case 17: {
                     let clientId = msg.type();
                     let obj = this._pipeline_by_instance.get(clientId);
                     if (obj === undefined)
@@ -104,7 +138,7 @@ export class zappar_server {
                     this._impl.pipeline_motion_attitude_matrix_submit(obj, msg.matrix4x4());
                     break;
                 }
-                case 29: {
+                case 33: {
                     let clientId = msg.type();
                     let arg_pipeline_id = msg.type();
                     let arg_pipeline = this._pipeline_by_instance.get(arg_pipeline_id);
@@ -114,7 +148,7 @@ export class zappar_server {
                     this._pipeline_id_by_camera_source_id.set(clientId, arg_pipeline_id);
                     break;
                 }
-                case 30: {
+                case 34: {
                     let clientId = msg.type();
                     let obj = this._camera_source_by_instance.get(clientId);
                     if (obj === undefined)
@@ -123,7 +157,7 @@ export class zappar_server {
                     this._camera_source_by_instance.delete(clientId);
                     break;
                 }
-                case 35: {
+                case 39: {
                     let clientId = msg.type();
                     let arg_pipeline_id = msg.type();
                     let arg_pipeline = this._pipeline_by_instance.get(arg_pipeline_id);
@@ -132,7 +166,7 @@ export class zappar_server {
                     this._pipeline_id_by_sequence_source_id.set(clientId, arg_pipeline_id);
                     break;
                 }
-                case 36: {
+                case 40: {
                     let clientId = msg.type();
                     let obj = this._sequence_source_by_instance.get(clientId);
                     if (obj === undefined)
@@ -150,7 +184,7 @@ export class zappar_server {
                     this._pipeline_id_by_image_tracker_id.set(clientId, arg_pipeline_id);
                     break;
                 }
-                case 14: {
+                case 18: {
                     let clientId = msg.type();
                     let obj = this._image_tracker_by_instance.get(clientId);
                     if (obj === undefined)
@@ -175,7 +209,7 @@ export class zappar_server {
                     this._impl.image_tracker_enabled_set(obj, msg.bool());
                     break;
                 }
-                case 20: {
+                case 24: {
                     let clientId = msg.type();
                     let arg_pipeline_id = msg.type();
                     let arg_pipeline = this._pipeline_by_instance.get(arg_pipeline_id);
@@ -184,7 +218,7 @@ export class zappar_server {
                     this._pipeline_id_by_face_tracker_id.set(clientId, arg_pipeline_id);
                     break;
                 }
-                case 21: {
+                case 25: {
                     let clientId = msg.type();
                     let obj = this._face_tracker_by_instance.get(clientId);
                     if (obj === undefined)
@@ -193,7 +227,7 @@ export class zappar_server {
                     this._face_tracker_by_instance.delete(clientId);
                     break;
                 }
-                case 22: {
+                case 26: {
                     let clientId = msg.type();
                     let obj = this._face_tracker_by_instance.get(clientId);
                     if (obj === undefined)
@@ -201,7 +235,7 @@ export class zappar_server {
                     this._impl.face_tracker_model_load_from_memory(obj, msg.dataWithLength());
                     break;
                 }
-                case 23: {
+                case 27: {
                     let clientId = msg.type();
                     let obj = this._face_tracker_by_instance.get(clientId);
                     if (obj === undefined)
@@ -209,7 +243,7 @@ export class zappar_server {
                     this._impl.face_tracker_enabled_set(obj, msg.bool());
                     break;
                 }
-                case 24: {
+                case 28: {
                     let clientId = msg.type();
                     let obj = this._face_tracker_by_instance.get(clientId);
                     if (obj === undefined)
@@ -217,13 +251,13 @@ export class zappar_server {
                     this._impl.face_tracker_max_faces_set(obj, msg.int());
                     break;
                 }
-                case 25: {
+                case 29: {
                     let clientId = msg.type();
                     let handle = this._impl.face_mesh_create();
                     this._face_mesh_by_instance.set(clientId, handle);
                     break;
                 }
-                case 26: {
+                case 30: {
                     let clientId = msg.type();
                     let obj = this._face_mesh_by_instance.get(clientId);
                     if (obj === undefined)
@@ -232,14 +266,14 @@ export class zappar_server {
                     this._face_mesh_by_instance.delete(clientId);
                     break;
                 }
-                case 32: {
+                case 36: {
                     let clientId = msg.type();
                     let arg_landmark = msg.faceLandmarkName();
                     let handle = this._impl.face_landmark_create(arg_landmark);
                     this._face_landmark_by_instance.set(clientId, handle);
                     break;
                 }
-                case 33: {
+                case 37: {
                     let clientId = msg.type();
                     let obj = this._face_landmark_by_instance.get(clientId);
                     if (obj === undefined)
@@ -248,7 +282,7 @@ export class zappar_server {
                     this._face_landmark_by_instance.delete(clientId);
                     break;
                 }
-                case 16: {
+                case 20: {
                     let clientId = msg.type();
                     let arg_pipeline_id = msg.type();
                     let arg_pipeline = this._pipeline_by_instance.get(arg_pipeline_id);
@@ -257,7 +291,7 @@ export class zappar_server {
                     this._pipeline_id_by_barcode_finder_id.set(clientId, arg_pipeline_id);
                     break;
                 }
-                case 17: {
+                case 21: {
                     let clientId = msg.type();
                     let obj = this._barcode_finder_by_instance.get(clientId);
                     if (obj === undefined)
@@ -266,7 +300,7 @@ export class zappar_server {
                     this._barcode_finder_by_instance.delete(clientId);
                     break;
                 }
-                case 18: {
+                case 22: {
                     let clientId = msg.type();
                     let obj = this._barcode_finder_by_instance.get(clientId);
                     if (obj === undefined)
@@ -274,7 +308,7 @@ export class zappar_server {
                     this._impl.barcode_finder_enabled_set(obj, msg.bool());
                     break;
                 }
-                case 19: {
+                case 23: {
                     let clientId = msg.type();
                     let obj = this._barcode_finder_by_instance.get(clientId);
                     if (obj === undefined)
@@ -291,7 +325,7 @@ export class zappar_server {
                     this._pipeline_id_by_instant_world_tracker_id.set(clientId, arg_pipeline_id);
                     break;
                 }
-                case 15: {
+                case 19: {
                     let clientId = msg.type();
                     let obj = this._instant_world_tracker_by_instance.get(clientId);
                     if (obj === undefined)
@@ -316,6 +350,40 @@ export class zappar_server {
                     this._impl.instant_world_tracker_anchor_pose_set_from_camera_offset_raw(obj, msg.float(), msg.float(), msg.float(), msg.instantTrackerTransformOrientation());
                     break;
                 }
+                case 41: {
+                    let clientId = msg.type();
+                    let arg_pipeline_id = msg.type();
+                    let arg_pipeline = this._pipeline_by_instance.get(arg_pipeline_id);
+                    let handle = this._impl.world_tracker_create(arg_pipeline);
+                    this._world_tracker_by_instance.set(clientId, handle);
+                    this._pipeline_id_by_world_tracker_id.set(clientId, arg_pipeline_id);
+                    break;
+                }
+                case 42: {
+                    let clientId = msg.type();
+                    let obj = this._world_tracker_by_instance.get(clientId);
+                    if (obj === undefined)
+                        return;
+                    this._impl.world_tracker_destroy(obj);
+                    this._world_tracker_by_instance.delete(clientId);
+                    break;
+                }
+                case 43: {
+                    let clientId = msg.type();
+                    let obj = this._world_tracker_by_instance.get(clientId);
+                    if (obj === undefined)
+                        return;
+                    this._impl.world_tracker_enabled_set(obj, msg.bool());
+                    break;
+                }
+                case 44: {
+                    let clientId = msg.type();
+                    let obj = this._world_tracker_by_instance.get(clientId);
+                    if (obj === undefined)
+                        return;
+                    this._impl.world_tracker_reset(obj);
+                    break;
+                }
             }
         });
     }
@@ -492,5 +560,44 @@ export class zappar_server {
                 msg.matrix4x4(this._impl.instant_world_tracker_anchor_pose_raw(v));
             });
         }
+        for (let [k, v] of this._world_tracker_by_instance) {
+            let pipeline = this._pipeline_id_by_world_tracker_id.get(k);
+            if (!pipeline)
+                continue;
+            let serializer = this.serializersByPipelineId.get(pipeline);
+            if (!serializer)
+                continue;
+            serializer.sendMessage(27, msg => {
+                msg.type(k);
+                msg.int(this._impl.world_tracker_quality(v));
+            });
+            serializer.sendMessage(21, msg => {
+                msg.type(k);
+                msg.int(this._impl.world_tracker_plane_count(v));
+            });
+            for (let i = 0; i < this._impl.world_tracker_plane_count(v); i++) {
+                serializer.sendMessage(22, msg => {
+                    msg.type(k);
+                    msg.int(i);
+                    msg.matrix4x4(this._impl.world_tracker_plane_pose_raw(v, i));
+                });
+            }
+            serializer.sendMessage(23, msg => {
+                msg.type(k);
+                msg.bool(this._impl.world_tracker_world_anchor_valid(v));
+            });
+            serializer.sendMessage(24, msg => {
+                msg.type(k);
+                msg.matrix4x4(this._impl.world_tracker_world_anchor_pose_raw(v));
+            });
+            serializer.sendMessage(23, msg => {
+                msg.type(k);
+                msg.bool(this._impl.world_tracker_ground_anchor_valid(v));
+            });
+            serializer.sendMessage(26, msg => {
+                msg.type(k);
+                msg.matrix4x4(this._impl.world_tracker_ground_anchor_pose_raw(v));
+            });
+        }
     }
 }

package/lib/gen/zappar.d.ts

@@ -9,6 +9,7 @@ import { log_level_t } from "./zappar-native";
 export { log_level_t } from "./zappar-native";
 import { image_target_type_t } from "./zappar-native";
 export { image_target_type_t } from "./zappar-native";
+export { world_tracker_quality_t } from "./zappar-native";
 export declare type zappar_pipeline_t = number & {
     _: 'zappar_pipeline_t';
 };
@@ -36,6 +37,9 @@ export declare type zappar_barcode_finder_t = number & {
 export declare type zappar_instant_world_tracker_t = number & {
     _: 'zappar_instant_world_tracker_t';
 };
+export declare type zappar_world_tracker_t = number & {
+    _: 'zappar_world_tracker_t';
+};
 export interface zappar {
     loaded(): boolean;
     camera_default_device_id(userFacing: boolean): string;
@@ -77,8 +81,12 @@ export interface zappar {
     pipeline_camera_frame_device_attitude(o: zappar_pipeline_t): Float32Array;
     pipeline_camera_frame_user_facing(o: zappar_pipeline_t): boolean;
     pipeline_motion_accelerometer_submit(o: zappar_pipeline_t, time: number, x: number, y: number, z: number): void;
+    pipeline_motion_accelerometer_with_gravity_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
+    pipeline_motion_accelerometer_without_gravity_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
     pipeline_motion_rotation_rate_submit(o: zappar_pipeline_t, time: number, x: number, y: number, z: number): void;
+    pipeline_motion_rotation_rate_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
     pipeline_motion_attitude_submit(o: zappar_pipeline_t, time: number, x: number, y: number, z: number): void;
+    pipeline_motion_attitude_submit_int(o: zappar_pipeline_t, time: number, interval: number, x: number, y: number, z: number): void;
     pipeline_motion_attitude_matrix_submit(o: zappar_pipeline_t, mat: Float32Array): void;
     pipeline_sequence_record_start(o: zappar_pipeline_t, expected_frames: number): void;
     pipeline_sequence_record_stop(o: zappar_pipeline_t): void;
@@ -174,4 +182,22 @@ export interface zappar {
     instant_world_tracker_anchor_pose(o: zappar_instant_world_tracker_t, camera_pose: Float32Array, mirror: boolean): Float32Array;
     instant_world_tracker_anchor_pose_set_from_camera_offset_raw(o: zappar_instant_world_tracker_t, x: number, y: number, z: number, orientation: instant_world_tracker_transform_orientation_t): void;
     instant_world_tracker_anchor_pose_set_from_camera_offset(o: zappar_instant_world_tracker_t, x: number, y: number, z: number, orientation: instant_world_tracker_transform_orientation_t): void;
+    world_tracker_create(pipeline: zappar_pipeline_t): zappar_world_tracker_t;
+    world_tracker_destroy(o: zappar_world_tracker_t): void;
+    world_tracker_enabled(o: zappar_world_tracker_t): boolean;
+    world_tracker_enabled_set(o: zappar_world_tracker_t, enabled: boolean): void;
+    world_tracker_quality(o: zappar_world_tracker_t): number;
+    world_tracker_plane_count(o: zappar_world_tracker_t): number;
+    world_tracker_plane_pose_raw(o: zappar_world_tracker_t, indx: number): Float32Array;
+    world_tracker_plane_pose_camera_relative(o: zappar_world_tracker_t, indx: number, mirror: boolean): Float32Array;
+    world_tracker_plane_pose(o: zappar_world_tracker_t, indx: number, camera_pose: Float32Array, mirror: boolean): Float32Array;
+    world_tracker_world_anchor_valid(o: zappar_world_tracker_t): boolean;
+    world_tracker_world_anchor_pose_raw(o: zappar_world_tracker_t): Float32Array;
+    world_tracker_world_anchor_pose_camera_relative(o: zappar_world_tracker_t, mirror: boolean): Float32Array;
+    world_tracker_world_anchor_pose(o: zappar_world_tracker_t, camera_pose: Float32Array, mirror: boolean): Float32Array;
+    world_tracker_ground_anchor_valid(o: zappar_world_tracker_t): boolean;
+    world_tracker_ground_anchor_pose_raw(o: zappar_world_tracker_t): Float32Array;
+    world_tracker_ground_anchor_pose_camera_relative(o: zappar_world_tracker_t, mirror: boolean): Float32Array;
+    world_tracker_ground_anchor_pose(o: zappar_world_tracker_t, camera_pose: Float32Array, mirror: boolean): Float32Array;
+    world_tracker_reset(o: zappar_world_tracker_t): void;
 }

package/lib/gen/zappar.js

@@ -4,3 +4,4 @@ export { frame_pixel_format_t } from "./zappar-native";
 export { instant_world_tracker_transform_orientation_t } from "./zappar-native";
 export { log_level_t } from "./zappar-native";
 export { image_target_type_t } from "./zappar-native";
+export { world_tracker_quality_t } from "./zappar-native";