Loading...
Searching...
No Matches
listener/listener.cs
// Copyright PS-Tech B.V. All Rights Reserved.
using System;
using System.Runtime.InteropServices;
using System.Threading;
using PSTech.Pstsdk;
namespace PSTech.Listener
{
public class Listener
{
//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;
}
public static void PrintMatrix(float[] matrix)
{
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
Console.Write(matrix[j + i * 4] + "\t");
}
Console.WriteLine();
}
}
// Control variable for main loop.
static bool Running = true;
// Flag for signaling tracker restart.
static bool Restart = false;
// Number of data points to grab before application termination
static int NumberOfSamplesToGrab = 100;
static int SamplesGrabbed = 0;
class MyTrackerListener : TrackerListener
{
public override void OnTrackerData(TrackerData data, ErrorStatus status)
{
if (SamplesGrabbed++ >= NumberOfSamplesToGrab)
{
Running = false;
}
for (int d = 0; d < data.TargetPoseList.Length; ++d)
{
var mat = data.TargetPoseList[d].PoseMatrix;
Console.Write("Pose for " + data.TargetPoseList[d].Target.Name + "\n");
PrintMatrix(mat);
}
}
public override void OnTrackerMode(ETrackerMode mode)
{
switch (mode)
{
case ETrackerMode.ModeTracking:
Console.WriteLine("Tracker tracking");
break;
case ETrackerMode.ModeLowpower:
Console.WriteLine("Tracker paused");
break;
case ETrackerMode.ModeDisconnect:
Console.WriteLine("Tracker disconnected");
break;
case ETrackerMode.ModeReconnect:
Console.WriteLine("Tracker reconnected");
Restart = true; // Tracker reconnects in paused state. Attempt restart.
break;
default:
Console.WriteLine("Mode " + (int) mode);
break;
}
}
}
static void Exithandler(int sig)
{
Tracker.Shutdown(); // Cleans up native resources only; does NOT remove listeners
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.
// Wrap the Tracker in a using statement to ensure Dispose() is called automatically
using (Tracker tracker = new Tracker())
{
// Check if calibration information is available for all cameras. When this is not the case, provide a warning.
if (tracker.GetUncalibratedCameraUrls().Length > 0)
{
Console.Write("\nNo calibration information could be found in the configuration directory. " +
"Please use the PST Server and PST Client application to initialize the PST Tracker and create/import a tracking target. " +
"More information can be found in the Initialization section of the PST SDK manual and the PST Manual.\n\n");
Console.Write("Press enter to continue...\n");
Console.Read();
return 1;
}
// 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(listener);
Console.Write("Put the Reference card in front of the PST in order to see tracking results.\n\n");
// 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");
// 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() + "\n");
// Main loop, wait for auto-termination.
while (Running)
{
// If tracker has reconnected, restart it.
if (Restart)
{
tracker.StartTracker();
Restart = false;
}
Thread.Sleep(100); ;
}
}
}
catch (Exception e)
{
// Catch PSTech.TrackerException exceptions and print error messages.
Console.Write(e + "\n");
// Pause command line to see error message.
Console.Write("Press enter to continue...\n");
Console.Read();
}
return 0;
}
}
}
Exception
PSTech.Pstsdk.TargetPose.Target
Target Target
Definition TargetPose.cs:41
PSTech.Pstsdk.TargetPose.PoseMatrix
float[] PoseMatrix
Definition TargetPose.cs:43
PSTech.Pstsdk.TrackerData
Tracking information retrieved from tracker.
Definition TrackerData.cs:25
PSTech.Pstsdk.TrackerData.TargetPoseList
TargetPose[] TargetPoseList
Definition TrackerData.cs:58
PSTech.Pstsdk.Tracker
Main PST SDK class implementing tracker communication.
Definition Tracker.cs:198
PSTech.Pstsdk.Tracker.Shutdown
static void Shutdown()
Shutdown the tracking system, stopping tracking.
Definition Tracker.cs:548
PSTech.Pstsdk.Tracker.GetFramerate
double GetFramerate()
Get current frame rate.
Definition Tracker.cs:589
PSTech.Pstsdk.Tracker.StartTracker
void StartTracker()
Start tracking.
Definition Tracker.cs:524
PSTech.Pstsdk.Tracker.Systemcheck
StatusMessage Systemcheck()
Check if the tracker is running correctly.
Definition Tracker.cs:568
PSTech.Pstsdk.Tracker.AddTrackerListener
void AddTrackerListener(TrackerListener listener)
Add a listener for tracker data and/or mode change reporting.
Definition Tracker.cs:476
PSTech.Pstsdk.Tracker.SetFramerate
void SetFramerate(double fps)
Set tracker frame rate.
Definition Tracker.cs:579
PSTech.Pstsdk.Tracker.GetVersionInfo
string GetVersionInfo()
Get version information of the SDK.
Definition Tracker.cs:400
PSTech.Pstsdk.Tracker.GetUncalibratedCameraUrls
string[] GetUncalibratedCameraUrls(bool silent=false)
Check if cameras of the connected PST Tracker are calibrated.
Definition Tracker.cs:380
PSTech.Pstsdk.TrackerListener
Implements the TrackerListener class to receive tracking information and tracking mode updates.
Definition Tracker.cs:166
PSTech.Pstsdk
Definition CApi.cs:9
PSTech.Pstsdk.ETrackerMode
ETrackerMode
Tracker mode enum class.
Definition ErrorHandler.cs:82
PSTech.Pstsdk.ErrorStatus
ErrorStatus
Tracker error messages enum class.
Definition ErrorHandler.cs:17
PSTech.Pstsdk.Target.Name
string Name
User given name of the tracking target as listed in the PST-Client software.
Definition Tracker.cs:37