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minimal.c
#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