@zappar/zappar-cv 3.0.1-beta.1 → 3.0.1-beta.4

package/lib/native.js

@@ -7,10 +7,10 @@ var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, ge
         step((generator = generator.apply(thisArg, _arguments || [])).next());
     });
 };
-import { image_target_type_t } from "./gen/zappar";
+import { transform_orientation_t, image_target_type_t, anchor_status_t } from "./gen/zappar";
 import { zappar_client } from "./gen/zappar-client";
 import { drawPlane } from "./drawplane";
-import { cameraRotationForScreenOrientation, projectionMatrix } from "./cameramodel";
+import { cameraRotationForScreenOrientation, projectionMatrixFromModelAndSize } from "./cameramodel";
 import { mat4, vec3 } from "gl-matrix";
 import { launchCeresWorker, launchWorker, messageManager } from "./worker-client";
 import { permissionRequestUI, permissionGrantedAll, permissionGrantedCamera, permissionGrantedMotion, permissionDeniedAny, permissionDeniedCamera, permissionDeniedMotion, permissionRequestMotion, permissionRequestCamera, permissionRequestAll, permissionDeniedUI } from "./permission";
@@ -31,6 +31,8 @@ import { getPointsDataMatrix } from "./drawpoints";
 import { drawAxis } from "./drawaxis";
 let client;
 const pipelineByWorldTracker = new Map();
+const _temporaryMatrix = mat4.create();
+const _temporaryVec3 = vec3.create();
 export function initialize(opts) {
     if (client)
         return client;
@@ -150,7 +152,7 @@ export function initialize(opts) {
             }
         }
     });
-    const customAnchorIDs = new Map();
+    const customAnchors = new Map();
     client = Object.assign(Object.assign({}, c.impl), { loaded: () => loaded, camera_default_device_id: userFacing => userFacing ? CameraSource.USER_DEFAULT_DEVICE_ID : CameraSource.DEFAULT_DEVICE_ID, camera_source_create: (p, deviceId) => createCameraSource(p, deviceId), camera_source_destroy: cam => { var _a; return (_a = getCameraSource(cam)) === null || _a === void 0 ? void 0 : _a.destroy(); }, camera_source_pause: cam => { var _a; return (_a = getCameraSource(cam)) === null || _a === void 0 ? void 0 : _a.pause(); }, camera_source_start: cam => { var _a; return (_a = getCameraSource(cam)) === null || _a === void 0 ? void 0 : _a.start(); }, camera_source_profile_set: (cam, p) => { var _a; return (_a = getCameraSource(cam)) === null || _a === void 0 ? void 0 : _a.setProfile(p); }, camera_count: () => 2, camera_id: indx => indx === 0 ? CameraSource.DEFAULT_DEVICE_ID : CameraSource.USER_DEFAULT_DEVICE_ID, camera_name: indx => indx === 0 ? "Rear-facing Camera" : "User-facing Camera", camera_user_facing: indx => indx !== 0, pose_from_raw: (raw_pose, mirror) => {
             let res = applyScreenCounterRotation(undefined, raw_pose);
             if (mirror) {
@@ -163,14 +165,6 @@ export function initialize(opts) {
         }, pipeline_create: () => Pipeline.create(c.impl, messageManager), pipeline_frame_update: (p) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.frameUpdate(c); }, pipeline_camera_frame_draw_gl: (pipeline, screenWidth, screenHeight, mirror) => {
             var _a;
             (_a = Pipeline.get(pipeline)) === null || _a === void 0 ? void 0 : _a.cameraFrameDrawGL(screenWidth, screenHeight, mirror);
-        }, pipeline_camera_frame_data_width: (pipeline) => {
-            var _a, _b;
-            const info = (_a = Pipeline.get(pipeline)) === null || _a === void 0 ? void 0 : _a.getCurrentCameraInfo();
-            return (_b = info === null || info === void 0 ? void 0 : info.dataWidth) !== null && _b !== void 0 ? _b : 0;
-        }, pipeline_camera_frame_data_height: (pipeline) => {
-            var _a, _b;
-            const info = (_a = Pipeline.get(pipeline)) === null || _a === void 0 ? void 0 : _a.getCurrentCameraInfo();
-            return (_b = info === null || info === void 0 ? void 0 : info.dataHeight) !== null && _b !== void 0 ? _b : 0;
         }, draw_plane: (gl, projectionMatrix, cameraMatrix, targetMatrix, texture) => {
             drawPlane(gl, projectionMatrix, cameraMatrix, targetMatrix, texture);
         }, draw_grid: (gl, projectionMatrix, cameraMatrix, targetMatrix) => {
@@ -196,7 +190,7 @@ export function initialize(opts) {
                 return;
             }
             (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.drawImageTargetPreview(projectionMatrix, cameraMatrix, targetMatrix, indx, obj);
-        }, projection_matrix_from_camera_model: projectionMatrix, projection_matrix_from_camera_model_ext: projectionMatrix, pipeline_process_gl: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.processGL(); }, pipeline_gl_context_set: (p, gl, texturePool) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.glContextSet(gl, texturePool); }, pipeline_gl_context_lost: (p) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.glContextLost(); }, pipeline_camera_frame_upload_gl: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.uploadGL(); }, pipeline_camera_frame_texture_gl: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.cameraFrameTexture(); }, pipeline_camera_frame_texture_matrix: (p, sw, sh, mirror) => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.cameraFrameTextureMatrix(sw, sh, mirror)) || mat4.create(); }, pipeline_camera_frame_user_facing: p => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.cameraFrameUserFacing()) || false; }, pipeline_camera_pose_default: () => mat4.create(), pipeline_camera_pose_with_attitude: (p, mirror) => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.cameraPoseWithAttitude(mirror)) || mat4.create(); }, pipeline_camera_pose_with_origin: (p, o) => { let res = mat4.create(); mat4.invert(res, o); return res; }, pipeline_sequence_record_clear: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordClear(); }, pipeline_sequence_record_start: (p, expectedFrames) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordStart(expectedFrames); }, pipeline_sequence_record_stop: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordStop(); }, pipeline_sequence_record_device_attitude_matrices_set: (p, v) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordDeviceAttitudeMatrices(v); }, pipeline_sequence_record_data: p => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordData()) || new Uint8Array(0); }, pipeline_sequence_record_data_size: p => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordData().byteLength) || 0; }, pipeline_camera_frame_data_raw: p => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.getCameraFrameDataRaw()) || Promise.reject(); }, pipeline_camera_frame_data_raw_enabled_set: (p, v) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.setCameraFrameDataRawEnabled(v); }, instant_world_tracker_anchor_pose_camera_relative: (o, mirror) => {
+        }, projection_matrix_from_camera_model_and_size: projectionMatrixFromModelAndSize, projection_matrix_from_camera_model_and_size_ext: projectionMatrixFromModelAndSize, pipeline_process_gl: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.processGL(); }, pipeline_gl_context_set: (p, gl, texturePool) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.glContextSet(gl, texturePool); }, pipeline_gl_context_lost: (p) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.glContextLost(); }, pipeline_camera_frame_upload_gl: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.uploadGL(); }, pipeline_camera_frame_texture_gl: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.cameraFrameTexture(); }, pipeline_camera_frame_texture_matrix: (p, sw, sh, mirror) => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.cameraFrameTextureMatrix(sw, sh, mirror)) || mat4.create(); }, pipeline_camera_frame_user_facing: p => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.cameraFrameUserFacing()) || false; }, pipeline_camera_pose_default: () => mat4.create(), pipeline_camera_pose_with_attitude: (p, mirror) => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.cameraPoseWithAttitude(mirror)) || mat4.create(); }, pipeline_camera_pose_with_origin: (p, o) => { let res = mat4.create(); mat4.invert(res, o); return res; }, pipeline_sequence_record_clear: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordClear(); }, pipeline_sequence_record_start: (p, expectedFrames) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordStart(expectedFrames); }, pipeline_sequence_record_stop: p => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordStop(); }, pipeline_sequence_record_device_attitude_matrices_set: (p, v) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordDeviceAttitudeMatrices(v); }, pipeline_sequence_record_data: p => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordData()) || new Uint8Array(0); }, pipeline_sequence_record_data_size: p => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.sequenceRecordData().byteLength) || 0; }, pipeline_camera_frame_data_raw: p => { var _a; return ((_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.getCameraFrameDataRaw()) || Promise.reject(); }, pipeline_camera_frame_data_raw_enabled_set: (p, v) => { var _a; return (_a = Pipeline.get(p)) === null || _a === void 0 ? void 0 : _a.setCameraFrameDataRawEnabled(v); }, instant_world_tracker_anchor_pose_camera_relative: (o, mirror) => {
             let res = applyScreenCounterRotation(undefined, c.impl.instant_world_tracker_anchor_pose_raw(o));
             if (mirror) {
                 let scale = mat4.create();
@@ -228,8 +222,31 @@ export function initialize(opts) {
             let rawVec = vec3.create();
             vec3.transformMat4(rawVec, [x, y, z], rotationMat);
             c.impl.instant_world_tracker_anchor_pose_set_from_camera_offset_raw(o, rawVec[0], rawVec[1], rawVec[2], orientation);
+        }, custom_anchor_pose_raw: (o) => {
+            const entry = customAnchors.get(o);
+            if (entry === undefined) {
+                zcwarn("attempting to call custom_anchor_pose_raw on a destroyed zappar_custom_anchor_t");
+                return mat4.create();
+            }
+            if (entry.expectedPoseVersion <= client.custom_anchor_pose_version(o))
+                return c.impl.custom_anchor_pose_raw(o);
+            const world_anchor_raw = client.world_tracker_world_anchor_pose_raw(entry.wt).slice();
+            const ret = mat4.create();
+            mat4.multiply(ret, world_anchor_raw, entry.poseRelativeToWorldAnchor);
+            return ret;
+        }, custom_anchor_status: (o) => {
+            const entry = customAnchors.get(o);
+            if (entry === undefined) {
+                zcwarn("attempting to call custom_anchor_status on a destroyed zappar_custom_anchor_t");
+                return anchor_status_t.ANCHOR_STATUS_STOPPED;
+            }
+            if (entry.expectedPoseVersion === 0)
+                return anchor_status_t.ANCHOR_STATUS_STOPPED;
+            if (entry.expectedPoseVersion <= client.custom_anchor_pose_version(o))
+                return c.impl.custom_anchor_status(o);
+            return anchor_status_t.ANCHOR_STATUS_INITIALIZING;
         }, custom_anchor_pose_camera_relative: (o, mirror) => {
-            let res = applyScreenCounterRotation(undefined, c.impl.custom_anchor_pose_raw(o));
+            let res = applyScreenCounterRotation(undefined, client.custom_anchor_pose_raw(o));
             if (mirror) {
                 let scale = mat4.create();
                 mat4.fromScaling(scale, [-1, 1, 1]);
@@ -238,7 +255,7 @@ export function initialize(opts) {
             }
             return res;
         }, custom_anchor_pose: (o, cameraPose, mirror) => {
-            let res = applyScreenCounterRotation(undefined, c.impl.custom_anchor_pose_raw(o));
+            let res = applyScreenCounterRotation(undefined, client.custom_anchor_pose_raw(o));
             if (mirror) {
                 let scale = mat4.create();
                 mat4.fromScaling(scale, [-1, 1, 1]);
@@ -249,23 +266,193 @@ export function initialize(opts) {
             return res;
         }, custom_anchor_create: (p, wt, id) => {
             const ret = c.impl.custom_anchor_create(p, wt, id);
-            customAnchorIDs.set(ret, id);
+            customAnchors.set(ret, { id, wt, expectedPoseVersion: 0, poseRelativeToWorldAnchor: mat4.create() });
             return ret;
         }, custom_anchor_id: (o) => {
-            let id = customAnchorIDs.get(o);
-            if (!id) {
+            var _a;
+            let id = (_a = customAnchors.get(o)) === null || _a === void 0 ? void 0 : _a.id;
+            if (id === undefined) {
                 zcwarn("attempting to call custom_anchor_id on a destroyed zappar_custom_anchor_t");
                 return "";
             }
             return id;
         }, custom_anchor_pose_set_from_camera_offset: (o, x, y, z, orientation) => {
-            let userFacing = false;
-            let rotation = cameraRotationForScreenOrientation(userFacing) * Math.PI / 180.0;
-            let rotationMat = mat4.create();
-            mat4.fromRotation(rotationMat, -rotation, [0, 0, 1]);
-            let rawVec = vec3.create();
-            vec3.transformMat4(rawVec, [x, y, z], rotationMat);
-            c.impl.custom_anchor_pose_set_from_camera_offset_raw(o, rawVec[0], rawVec[1], rawVec[2], orientation);
+            const entry = customAnchors.get(o);
+            if (entry === undefined) {
+                zcwarn("attempting to call custom_anchor_pose_set_from_camera_offset on a destroyed zappar_custom_anchor_t");
+                return;
+            }
+            const pose = mat4.create();
+            // camera space -> world anchor transform
+            mat4.invert(_temporaryMatrix, client.world_tracker_world_anchor_pose_camera_relative(entry.wt, false));
+            _temporaryVec3[0] = x;
+            _temporaryVec3[1] = y;
+            _temporaryVec3[2] = z;
+            switch (orientation) {
+                // UNCHANGED and PARENT easiest in camera space
+                case transform_orientation_t.PARENT:
+                    // Identity rotation in camera space
+                    pose[12] = _temporaryVec3[0];
+                    pose[13] = _temporaryVec3[1];
+                    pose[14] = _temporaryVec3[2];
+                    // Convert to world pose
+                    mat4.multiply(pose, _temporaryMatrix, pose);
+                    break;
+                case transform_orientation_t.UNCHANGED:
+                    // Take rotation form current camera_relative pose
+                    mat4.copy(pose, client.custom_anchor_pose_camera_relative(o, false));
+                    pose[12] = _temporaryVec3[0];
+                    pose[13] = _temporaryVec3[1];
+                    pose[14] = _temporaryVec3[2];
+                    // Convert to world pose
+                    mat4.multiply(pose, _temporaryMatrix, pose);
+                    break;
+                // WORLD and Z_TOWARDS_CAMERA easiest in world space
+                case transform_orientation_t.WORLD:
+                    // Transform the position into world space
+                    vec3.transformMat4(_temporaryVec3, _temporaryVec3, _temporaryMatrix);
+                    // Rotation bit is already identity
+                    pose[12] = _temporaryVec3[0];
+                    pose[13] = _temporaryVec3[1];
+                    pose[14] = _temporaryVec3[2];
+                    break;
+                case transform_orientation_t.Z_TOWARDS_CAMERA:
+                    // Transform the position into world space
+                    vec3.transformMat4(_temporaryVec3, _temporaryVec3, _temporaryMatrix);
+                    // Z in pose should be aligned with the xz plane projection of target to camera vector
+                    let pose_zx = _temporaryMatrix[12] - _temporaryVec3[0];
+                    let pose_zz = _temporaryMatrix[14] - _temporaryVec3[2];
+                    let magn2 = pose_zx * pose_zx + pose_zz * pose_zz;
+                    if (magn2 > Number.EPSILON) {
+                        let scale = 1.0 / (Math.sqrt(magn2));
+                        pose_zx *= scale;
+                        pose_zz *= scale;
+                        pose[8] = pose_zx;
+                        pose[10] = pose_zz;
+                        // Fill in x axis by rotation matrix properties
+                        pose[0] = pose_zz;
+                        pose[2] = -pose_zx;
+                    }
+                    // Fill in the postion
+                    pose[12] = _temporaryVec3[0];
+                    pose[13] = _temporaryVec3[1];
+                    pose[14] = _temporaryVec3[2];
+                    break;
+            }
+            client.custom_anchor_pose_set(o, pose);
+        }, custom_anchor_pose_set_from_anchor_offset: (o, anchor_id, x, y, z, orientation) => {
+            const entry = customAnchors.get(o);
+            if (entry === undefined) {
+                zcwarn("attempting to call custom_anchor_pose_set_from_anchor_offset on a destroyed zappar_custom_anchor_t");
+                return;
+            }
+            let anchor_pose;
+            if (anchor_id === client.world_tracker_ground_anchor_id(entry.wt)) {
+                anchor_pose = client.world_tracker_ground_anchor_pose_raw(entry.wt);
+            }
+            else if (anchor_id === client.world_tracker_world_anchor_id(entry.wt)) {
+                anchor_pose = client.world_tracker_world_anchor_pose_raw(entry.wt);
+            }
+            else {
+                for (let i = 0; i < client.world_tracker_plane_anchor_count(entry.wt); i++) {
+                    if (anchor_id === client.world_tracker_plane_anchor_id(entry.wt, i)) {
+                        anchor_pose = client.world_tracker_plane_anchor_pose_raw(entry.wt, i);
+                        break;
+                    }
+                }
+                if (!anchor_pose) {
+                    for (const [anchor, details] of customAnchors.entries()) {
+                        if (details.id !== anchor_id)
+                            continue;
+                        anchor_pose = client.custom_anchor_pose_raw(anchor);
+                        break;
+                    }
+                }
+            }
+            if (!anchor_pose) {
+                zcwarn("unable for find anchor with id", anchor_id);
+                return;
+            }
+            const pose = mat4.create();
+            // camera_raw space -> world anchor transform
+            mat4.invert(_temporaryMatrix, client.world_tracker_world_anchor_pose_raw(entry.wt));
+            // Get position offset relative to camera_raw
+            _temporaryVec3[0] = x;
+            _temporaryVec3[1] = y;
+            _temporaryVec3[2] = z;
+            vec3.transformMat4(_temporaryVec3, _temporaryVec3, anchor_pose);
+            switch (orientation) {
+                // UNCHANGED and PARENT easiest in camera_raw space
+                case transform_orientation_t.PARENT:
+                    mat4.copy(pose, anchor_pose);
+                    pose[12] = _temporaryVec3[0];
+                    pose[13] = _temporaryVec3[1];
+                    pose[14] = _temporaryVec3[2];
+                    // Convert to world pose
+                    mat4.multiply(pose, _temporaryMatrix, pose);
+                    break;
+                case transform_orientation_t.UNCHANGED:
+                    mat4.copy(pose, client.custom_anchor_pose_raw(o));
+                    pose[12] = _temporaryVec3[0];
+                    pose[13] = _temporaryVec3[1];
+                    pose[14] = _temporaryVec3[2];
+                    // Convert to world pose
+                    mat4.multiply(pose, _temporaryMatrix, pose);
+                    break;
+                // WORLD and Z_TOWARDS_CAMERA easiest in world space
+                case transform_orientation_t.WORLD:
+                    // Transform the position into world space
+                    vec3.transformMat4(_temporaryVec3, _temporaryVec3, _temporaryMatrix);
+                    // Rotation bit is already identity
+                    pose[12] = _temporaryVec3[0];
+                    pose[13] = _temporaryVec3[1];
+                    pose[14] = _temporaryVec3[2];
+                    break;
+                case transform_orientation_t.Z_TOWARDS_CAMERA:
+                    // Transform the position into world space
+                    vec3.transformMat4(_temporaryVec3, _temporaryVec3, _temporaryMatrix);
+                    // Z in pose should be aligned with the xz plane projection of target to camera vector
+                    let pose_zx = _temporaryMatrix[12] - _temporaryVec3[0];
+                    let pose_zz = _temporaryMatrix[14] - _temporaryVec3[2];
+                    let magn2 = pose_zx * pose_zx + pose_zz * pose_zz;
+                    if (magn2 > Number.EPSILON) {
+                        let scale = 1.0 / (Math.sqrt(magn2));
+                        pose_zx *= scale;
+                        pose_zz *= scale;
+                        pose[8] = pose_zx;
+                        pose[10] = pose_zz;
+                        // Fill in x axis by rotation matrix properties
+                        pose[0] = pose_zz;
+                        pose[2] = -pose_zx;
+                    }
+                    // Fill in the postion
+                    pose[12] = _temporaryVec3[0];
+                    pose[13] = _temporaryVec3[1];
+                    pose[14] = _temporaryVec3[2];
+                    break;
+            }
+            client.custom_anchor_pose_set_with_parent(o, pose, anchor_id);
+        }, custom_anchor_pose_set: (o, pose) => {
+            const entry = customAnchors.get(o);
+            if (entry === undefined) {
+                zcwarn("attempting to call custom_anchor_pose_set on a destroyed zappar_custom_anchor_t");
+                return;
+            }
+            entry.expectedPoseVersion++;
+            mat4.copy(entry.poseRelativeToWorldAnchor, pose);
+            c.impl.custom_anchor_pose_set(o, pose);
+        }, custom_anchor_pose_set_with_parent: (o, pose, anchor_id) => {
+            const entry = customAnchors.get(o);
+            if (entry === undefined) {
+                zcwarn("attempting to call custom_anchor_pose_set_with_parent on a destroyed zappar_custom_anchor_t");
+                return;
+            }
+            entry.expectedPoseVersion++;
+            mat4.copy(entry.poseRelativeToWorldAnchor, pose);
+            c.impl.custom_anchor_pose_set_with_parent(o, pose, anchor_id);
+        }, custom_anchor_destroy: (o) => {
+            customAnchors.delete(o);
+            c.impl.custom_anchor_destroy(o);
         }, image_tracker_create: pipeline => ImageTracker.create(pipeline, c.impl), image_tracker_destroy: t => { var _a; return (_a = ImageTracker.get(t)) === null || _a === void 0 ? void 0 : _a.destroy(); }, image_tracker_target_type: (t, i) => {
             let obj = ImageTracker.get(t);
             if (!obj) {
@@ -591,13 +778,21 @@ export function initialize(opts) {
             const ret = c.impl.world_tracker_create(pipeline);
             pipelineByWorldTracker.set(ret, pipeline);
             return ret;
+        }, world_tracker_reset: (wt) => {
+            for (const entry of customAnchors.values()) {
+                if (entry.wt === wt) {
+                    mat4.identity(entry.poseRelativeToWorldAnchor);
+                    entry.expectedPoseVersion = 0;
+                }
+            }
+            c.impl.world_tracker_reset(wt);
         }, world_tracker_points_data_matrix: (wt, screenWidth, screenHeight, mirror) => {
             const pipeline = pipelineByWorldTracker.get(wt);
             if (pipeline === undefined || !client)
                 return mat4.create();
-            return getPointsDataMatrix(client.pipeline_camera_frame_data_width(pipeline), client.pipeline_camera_frame_data_height(pipeline), screenWidth, screenHeight, mirror);
+            return getPointsDataMatrix(client.pipeline_camera_data_width(pipeline), client.pipeline_camera_data_height(pipeline), screenWidth, screenHeight, mirror);
         }, world_tracker_plane_anchor_pose_camera_relative: (o, indx, mirror) => {
-            let res = applyScreenCounterRotation(undefined, c.impl.world_tracker_plane_anchor_pose_raw(o, indx));
+            let res = applyScreenCounterRotation(undefined, client.world_tracker_plane_anchor_pose_raw(o, indx));
             if (mirror) {
                 let scale = mat4.create();
                 mat4.fromScaling(scale, [-1, 1, 1]);
@@ -606,7 +801,7 @@ export function initialize(opts) {
             }
             return res;
         }, world_tracker_plane_anchor_pose: (o, indx, cameraPose, mirror) => {
-            let res = applyScreenCounterRotation(undefined, c.impl.world_tracker_plane_anchor_pose_raw(o, indx));
+            let res = applyScreenCounterRotation(undefined, client.world_tracker_plane_anchor_pose_raw(o, indx));
             if (mirror) {
                 let scale = mat4.create();
                 mat4.fromScaling(scale, [-1, 1, 1]);
@@ -616,7 +811,7 @@ export function initialize(opts) {
             mat4.multiply(res, cameraPose, res);
             return res;
         }, world_tracker_world_anchor_pose: (o, cameraPose, mirror) => {
-            let res = applyScreenCounterRotation(undefined, c.impl.world_tracker_world_anchor_pose_raw(o));
+            let res = applyScreenCounterRotation(undefined, client.world_tracker_world_anchor_pose_raw(o));
             if (mirror) {
                 let scale = mat4.create();
                 mat4.fromScaling(scale, [-1, 1, 1]);
@@ -626,7 +821,7 @@ export function initialize(opts) {
             mat4.multiply(res, cameraPose, res);
             return res;
         }, world_tracker_world_anchor_pose_camera_relative: (o, mirror) => {
-            let res = applyScreenCounterRotation(undefined, c.impl.world_tracker_world_anchor_pose_raw(o));
+            let res = applyScreenCounterRotation(undefined, client.world_tracker_world_anchor_pose_raw(o));
             if (mirror) {
                 let scale = mat4.create();
                 mat4.fromScaling(scale, [-1, 1, 1]);
@@ -635,7 +830,7 @@ export function initialize(opts) {
             }
             return res;
         }, world_tracker_ground_anchor_pose: (o, cameraPose, mirror) => {
-            let res = applyScreenCounterRotation(undefined, c.impl.world_tracker_ground_anchor_pose_raw(o));
+            let res = applyScreenCounterRotation(undefined, client.world_tracker_ground_anchor_pose_raw(o));
             if (mirror) {
                 let scale = mat4.create();
                 mat4.fromScaling(scale, [-1, 1, 1]);
@@ -645,7 +840,7 @@ export function initialize(opts) {
             mat4.multiply(res, cameraPose, res);
             return res;
         }, world_tracker_ground_anchor_pose_camera_relative: (o, mirror) => {
-            let res = applyScreenCounterRotation(undefined, c.impl.world_tracker_ground_anchor_pose_raw(o));
+            let res = applyScreenCounterRotation(undefined, client.world_tracker_ground_anchor_pose_raw(o));
             if (mirror) {
                 let scale = mat4.create();
                 mat4.fromScaling(scale, [-1, 1, 1]);

package/lib/tracing/jsontracer.d.ts

@@ -0,0 +1,14 @@
+import { PerformanceTracer } from "./performancetracer";
+export declare class JSONTracer implements PerformanceTracer {
+    private stackDepth;
+    private events;
+    private static beginTemplate;
+    private static endTemplate;
+    private static namingEvents;
+    constructor();
+    clear(): void;
+    toJSON(): string;
+    postJSON(url: string): void;
+    start(name: string): void;
+    end(): void;
+}

package/lib/tracing/jsontracer.js

@@ -0,0 +1,37 @@
+export class JSONTracer {
+    constructor() {
+        this.stackDepth = 0;
+        this.events = [];
+        this.events = [...JSONTracer.namingEvents];
+    }
+    clear() {
+        this.stackDepth = 0;
+        this.events = [...JSONTracer.namingEvents];
+    }
+    toJSON() {
+        return JSON.stringify(this.events);
+    }
+    postJSON(url) {
+        fetch(url, { method: 'POST', body: this.toJSON() });
+    }
+    start(name) {
+        this.stackDepth++;
+        let beginEvent = Object.assign({ "name": name }, JSONTracer.beginTemplate);
+        this.events.push(beginEvent);
+        beginEvent.ts = Math.round(performance.now() * 1000);
+    }
+    end() {
+        let endTimestamp = Math.round(performance.now() * 1000);
+        if (this.stackDepth <= 0)
+            return;
+        this.stackDepth--;
+        let endEvent = Object.assign({ "ts": endTimestamp }, JSONTracer.endTemplate);
+        this.events.push(endEvent);
+    }
+}
+JSONTracer.beginTemplate = { "ts": 0, "cat": "zcv", "ph": "B", "pid": 100, "tid": 100 };
+JSONTracer.endTemplate = { "ph": "E", "pid": 100, "tid": 100 };
+JSONTracer.namingEvents = [
+    { "name": "process_name", "ph": "M", "pid": 100, "args": { "name": "Content Process" } },
+    { "name": "thread_name", "ph": "M", "pid": 100, "tid": 100, "args": { "name": "UI Thread" } }
+];

package/lib/tracing/performancetracer.d.ts

@@ -0,0 +1,11 @@
+export interface PerformanceTracer {
+    clear: () => void;
+    start: (name: string) => void;
+    end: () => void;
+}
+export declare class PerformanceTracerManager implements PerformanceTracer {
+    tracers: PerformanceTracer[];
+    clear(): void;
+    start(name: string): void;
+    end(): void;
+}

package/lib/tracing/performancetracer.js

@@ -0,0 +1,17 @@
+export class PerformanceTracerManager {
+    constructor() {
+        this.tracers = [];
+    }
+    clear() {
+        for (let t of this.tracers)
+            t.clear();
+    }
+    start(name) {
+        for (let t of this.tracers)
+            t.start(name);
+    }
+    end() {
+        for (let t of this.tracers)
+            t.end();
+    }
+}

package/lib/tracing/sharedtracer.d.ts

@@ -0,0 +1,2 @@
+import { PerformanceTracerManager } from "./performancetracer";
+export declare function getSharedTracer(): PerformanceTracerManager;

package/lib/tracing/sharedtracer.js

@@ -0,0 +1,8 @@
+import { PerformanceTracerManager } from "./performancetracer";
+let sharedTracer = null;
+export function getSharedTracer() {
+    if (sharedTracer === null) {
+        sharedTracer = new PerformanceTracerManager();
+    }
+    return sharedTracer;
+}

package/lib/tracing/usertimingtracer.d.ts

@@ -0,0 +1,10 @@
+import { PerformanceTracer } from "./performancetracer";
+export declare class UserTimingTracer implements PerformanceTracer {
+    private useFixedName;
+    private markCount;
+    private traceStack;
+    constructor(useFixedName?: boolean);
+    clear(): void;
+    start(name: string): void;
+    end(): void;
+}

package/lib/tracing/usertimingtracer.js

@@ -0,0 +1,30 @@
+export class UserTimingTracer {
+    constructor(useFixedName = false) {
+        this.useFixedName = useFixedName;
+        this.markCount = 0;
+        this.traceStack = [];
+    }
+    clear() {
+        this.traceStack = [];
+    }
+    start(name) {
+        const markName = name + '_' + this.markCount.toFixed(0);
+        this.markCount++;
+        const startName = markName + '_s';
+        const endName = markName + '_e';
+        this.traceStack.push([name, startName, endName]);
+        performance.mark(startName);
+    }
+    end() {
+        let last = this.traceStack.pop();
+        if (!last)
+            return;
+        performance.mark(last[2]);
+        if (this.useFixedName) {
+            performance.measure("ZTracing", { start: last[1], end: last[2], detail: { name: last[0] } });
+        }
+        else {
+            performance.measure(last[0], last[1], last[2]);
+        }
+    }
+}

package/lib/version.d.ts

@@ -1 +1 @@
-export declare const VERSION = "3.0.1-beta.1";
+export declare const VERSION = "3.0.1-beta.4";

package/lib/version.js

@@ -1 +1 @@
-export const VERSION = "3.0.1-beta.1";
+export const VERSION = "3.0.1-beta.4";

package/lib/worker-server.js

@@ -322,8 +322,8 @@ function consumeReader(mod, r, reader, p, userFacing, server, source, workerMess
                     buffer.set(mod.HEAPU8.subarray(dataPointer, dataPointer + size));
                     buffers.ready.push({ token, data: {
                             data: buffer,
-                            width: r.pipeline_camera_frame_data_raw_width(p),
-                            height: r.pipeline_camera_frame_data_raw_height(p),
+                            width: r.pipeline_camera_data_width(p),
+                            height: r.pipeline_camera_data_height(p),
                         } });
                 }
                 server.exploreState();