| PST SDK 6.0.0.0-272350a

exposure/exposure.cs
// Copyright PS-Tech B.V. All Rights Reserved.
using System;
using System.Runtime.InteropServices;
using System.Threading;
using PSTech.Pstsdk;
namespace PsTech.Exposure
{
public class Exposure
{
//Registering control handler function.
[DllImport("Kernel32")]
private static extern bool SetConsoleCtrlHandler(ConsoleEventHandler handler, bool add);
private delegate bool ConsoleEventHandler(CtrlType sig);
static ConsoleEventHandler ConsoleCtrlEventHandler;
public enum CtrlType
{
CtrlCEvent = 0,
CtrlBreakEvent = 1,
CtrlCloseEvent = 2,
CtrlLogOffEvent = 5,
CtrlShutdownEvent = 6,
}
private static bool ConsoleHandler(CtrlType sig)
{
Exithandler((int)sig);
return true;
}
// Control variable for main loop.
static bool Running = true;
// Number of data points to grab before application termination.
static int NumberOfSamplesToGrab = 1000;
static int SamplesGrabbed = 0;
class MyTrackerListener : TrackerListener
{
public override void OnTrackerData(TrackerData data, ErrorStatus status)
{
if (SamplesGrabbed++ >= NumberOfSamplesToGrab)
{
Running = false;
}
// Do something with the received data.
}
}
static void Exithandler(int sig)
{
Tracker.Shutdown();
Running = false;
}
static int Main(string[] args)
{
// Register the exit handler with the application
ConsoleCtrlEventHandler += new ConsoleEventHandler(ConsoleHandler);
SetConsoleCtrlHandler(ConsoleCtrlEventHandler, true);
// Implement error handling of PSTech.TrackerException exceptions to prevent
// improper PST Tracker shutdown on errors.
try
{
// Create an instance of the Tracker object using the default configuration path and file names.
Tracker tracker = new Tracker();
// Print version number of the tracker server being used.
Console.Write("Running PST Server version " + tracker.GetVersionInfo() + "\n");
//Create tracker listener with callback functions for data and/or mode updates.
TrackerListener listener = new MyTrackerListener();
// Register the TrackerListener object to the tracker server.
tracker.AddTrackerListener(ref listener);
// Start the tracker server.
tracker.StartTracker();
// Perform a system check to see if the tracker server is running OK and print the result.
Console.Write("System check: " + tracker.Systemcheck() + "\n\n");
Console.Write("***************************\n\n");
// Set the frame rate to 30 Hz.
tracker.SetFramerate(30);
// Print the new frame rate to see if it was set correctly. Note that for PST HD and Pico
// trackers the frame rate actually being set can differ from the value provided to SetFramerate().
Console.Write("Frame rate set to " + tracker.GetFramerate() + " Hz\n");
// Query available exposure range for the current frame rate and try setting the maximum exposure value
double min = 0.0, max = 0.0;
tracker.GetExposureRange(ref min, ref max);
Console.Write("Exposure range: " + min + " s - " + max + " s\n");
Console.Write("Set exposure to " + max + "\n");
tracker.SetExposure(max);
Console.Write("Check new exposure: " + tracker.GetExposure() + " s\n\n");
Console.Write("***************************\n\n");
// Increase frame rate and check exposure value. For PST HD and PST Pico trackers, maximum exposure
// depends on frame rate. Exposure will be automatically decreased when necessary.
Console.Write("Set frame rate to 60 Hz\n");
tracker.SetFramerate(60);
Console.Write("Frame rate set to " + tracker.GetFramerate() + " Hz\n");
Console.Write("Check exposure: " + tracker.GetExposure() + " s\n");
// Check new exposure range
tracker.GetExposureRange(ref min, ref max);
Console.Write("New exposure range " + min + " s - " + max + " s\n\n");
Console.Write("***************************\n\n");
// Set exposure half-way
double exposureHalf = min + (max - min) / 2.0;
Console.Write("Set exposure half way: " + exposureHalf + " s\n");
tracker.SetExposure(exposureHalf);
Console.Write("New exposure: " + tracker.GetExposure() + " s\n\n");
Console.Write("***************************\n\n");
// Main loop, wait for auto-termination.
while (Running)
{
Thread.Sleep(100);
}
}
catch (Exception e)
{
// Catch PSTech.TrackerException exceptions and print error messages.
Console.Write(e + "\n");
}
finally
{
// Make sure that the connection to the PST Tracker is shut down properly.
Tracker.Shutdown();
}
// Pause command line to see results.
Console.Write("Press enter to continue...\n");
Console.Read();
return 0;
}
}
}