| PST SDK 6.0.0.0-272350a

trackingtarget.cpp
#ifdef WIN32
#include <windows.h>
#else
#include <csignal>
#endif
/*
* Define handler functions required to ensure a clean shutdown of the PST Tracker when the
* application is terminated.
*/
static void Exithandler(int sig);
#ifdef WIN32
BOOL WINAPI ConsoleHandler(DWORD CEvent)
{
Exithandler(CEvent);
return TRUE;
}
#endif
/* End of handler functions */
#include <iostream>
#include <thread>
#include <chrono>
#include <atomic>
#include "pstsdk_cpp.h"
#include "TrackerExceptions.h"
#include "PstStringIoStream.h"
/* Control variable for main loop */
static std::atomic<bool> running(true);
/* Number of data points to grab before application termination */
static const uint32_t numberOfSamplesToGrab = 100;
/*
* Implementation of the PSTech::pstsdk::Listener class to receive tracking data.
* The OnTrackerData() callback function receives the data as soon as it becomes
* available and prints the tracking target name to the command line.
*/
class MyListener : public PSTech::pstsdk::Listener
{
virtual void OnTrackerData(const PSTech::pstsdk::TrackerData& td)
{
static uint32_t samplesGrabbed = 0;
if (samplesGrabbed++ >= numberOfSamplesToGrab)
running = false;
for (const PSTech::pstsdk::TargetPose& pose : td.targetlist)
std::cout << "Detected " << pose.name << "\n";
}
} listener;
/*
* Implement the exit handler to shut-down the PST Tracker connection on application termination.
*/
static void Exithandler(int sig)
{
PSTech::pstsdk::Tracker::Shutdown();
running = false;
}
int main(int argc, char *argv[])
{
// Register the exit handler with the application
#ifdef WIN32
SetConsoleCtrlHandler((PHANDLER_ROUTINE)ConsoleHandler, TRUE);
#else
signal(SIGTERM, Exithandler);
signal(SIGKILL, Exithandler);
signal(SIGQUIT, Exithandler);
signal(SIGINT, Exithandler);
#endif
// 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.
#ifdef WIN32
PSTech::pstsdk::Tracker pst;
#else
// On Linux, specify the type of grabber that needs to be used as the last parameter:
// "basler_ace" for PST HD or "basler_dart" for PST Pico
PSTech::pstsdk::Tracker pst("","config.cfg","models.db",argv[1]);
#endif
// Print version number of the tracker server being used.
std::cout << "Running PST Server version " << pst.GetVersionInfo() << "\n";
// Register the listener object to the tracker server.
pst.AddTrackerListener(&listener);
std::cout << "Put the Reference card in front of the PST in order to see tracking results.\n\n";
// Start the tracker server.
pst.Start();
// Perform a system check to see if the tracker server is running OK and print the result.
std::cout << "System check: " << (int)pst.Systemcheck() << "\n";
// Retrieve the list of registered tracking targets and print their names and current status (active or not).
PSTech::pstsdk::TargetStatuses targets = pst.GetTargetList();
std::cout << "Found " << targets.size() << " tracking targets:\n";
for (PSTech::pstsdk::TargetStatus& t : targets)
std::cout << t.name << "\t" << t.status << "\n";
std::cout << "\n";
// Enable the Reference target. Note that this will cause a PSTech::TrackerException in case the Reference
// target has not been created. The Reference target can be created using the PST Client.
pst.SetTargetStatus("Reference", true);
// Get the 3D marker positions making up the Reference device and display them.
// Note that this will cause a PSTech::TrackerException in case the Reference target has not been created.
PSTech::pstsdk::MarkerList markers = pst.GetTargetMarkers("Reference");
std::cout << "3D marker positions making up the Reference target:\n";
for (auto& marker : markers)
std::cout << "x: " << marker[0] << "\t" << "y: " << marker[1] << "\t" << "z: " << marker[2] << "\n";
std::cout << "\n";
// Main loop, wait for auto-termination.
while (running)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
}
catch (PSTech::TrackerException &e)
{
// Catch PSTech::TrackerException exceptions and print error messages.
std::cout << e.full_description() << "\n";
}
// Make sure that the connection to the PST Tracker is shut down properly.
PSTech::pstsdk::Tracker::Shutdown();
// Pause command line to see results.
std::cout << "Press enter to continue...\n";
std::cin.get();
return 0;
}