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minimal.c

This example can be found in `examples\c\minimal\minimal.c`.

This minimal example shows how to connect to the PST SDK and how to register a callback function to receive data.

Note that for simplicity reasons, this example does not take the recommended safety precautions to shut down the PST Tracker when the application shuts down. In an actual implementation, please follow the safety precautions recommended in the Safe Tracker Termination section of the Using PST SDK page of the manual. Examples of how to implement the safety precautions can be found in the other examples.

When compiling and running this example, please make sure that the required dependencies can be found by the executable (e.g. by copying the `Redist` directory into the build directory. When the PST SDK has been installed through the PST Software Suite installer the Redist folder can be found in the Development folder.).

#include "pstsdk_c.h"
#include <stdio.h>
#include <stdlib.h>
#ifdef WIN32
#include <Windows.h>
#else
#include <unistd.h>
#endif
/*
* Implementation of a tracker callback function.
* The OnTrackerData() callback function receives the data as soon as it becomes
* available and prints the tracking target pose to the command line.
*/
void OnTrackerData(const PstTrackerData* tracker_data, EPstErrorStatus status)
{
// Do something with the tracker data in tracker_data
}
// Print the last error message.
void PrintLastErrorMessage()
{
char* last_error_message = NULL;
EPstErrorStatus error_status = pst_alloc_and_get_last_error_message(&last_error_message);
if (error_status != PST_ERROR_STATUS_OK)
{
last_error_message = "Failed to allocate memory error.";
}
printf("last error message: %s \n", last_error_message);
pst_free(last_error_message);
}
// Check error status and shutdown tracker upon error.
void CheckErrorCode(EPstErrorStatus status)
{
if (status != PST_ERROR_STATUS_OK)
{
PrintLastErrorMessage();
pst_sdk_shutdown();
exit(status);
}
}
int main(int argc, char* argv[])
{
PstTracker ctracker;
#ifdef WIN32
// Create an instance of the Tracker object using the default configuration path and file names.
CheckErrorCode(pst_tracker_init(&ctracker));
#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
CheckErrorCode(pst_tracker_init4(&ctracker, "", "config.cfg", "models.db", argv[1]));
#endif
// Register the OnTrackerData callback function to the tracker server.
CheckErrorCode(pst_tracker_add_tracker_data_callback(&ctracker, OnTrackerData));
// Start the tracker server.
CheckErrorCode(pst_tracker_start(&ctracker));
// Wait for 10 seconds, allowing for the detection of tracking targets.
#ifdef WIN32
Sleep(10000);
#else
sleep(10);
#endif
// Make sure that the connection to the PST Tracker is shut down properly.
pst_tracker_destroy(&ctracker);
return 0;
}
pst_tracker_init
EPstErrorStatus pst_tracker_init(PstTracker *ctracker)
This function initializes the tracker object.
pst_alloc_and_get_last_error_message
EPstErrorStatus pst_alloc_and_get_last_error_message(char **cstring)
This function returns the last error message that was recorded by the system.
pst_tracker_init4
EPstErrorStatus pst_tracker_init4(PstTracker *ctracker, const char path[], const char config_file[], const char db_file[], const char grabber_name[])
This function initializes the tracker object.
pst_tracker_destroy
void pst_tracker_destroy(PstTracker *ctracker)
pst_sdk_shutdown
void pst_sdk_shutdown()
Shutdown the tracking system, stopping tracking.
pst_free
void pst_free(void *data)
Free data allocated by the PST SDK.
pst_tracker_start
EPstErrorStatus pst_tracker_start(PstTracker *ctracker)
Start tracking.
pst_tracker_add_tracker_data_callback
EPstErrorStatus pst_tracker_add_tracker_data_callback(PstTracker *ctracker, void(*on_tracker_data)(const PstTrackerData *, EPstErrorStatus))
Add a callback function for tracker data.
EPstErrorStatus
EPstErrorStatus
Tracker error messages enum class.
Definition pstsdk_c.h:44
PST_ERROR_STATUS_OK
@ PST_ERROR_STATUS_OK
Definition pstsdk_c.h:45
pstsdk_c.h
PstTrackerData
Tracking information retrieved from tracker.
Definition pstsdk_c.h:248
PstTracker
Main PST SDK struct for tracker communication.
Definition pstsdk_c.h:264