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trackingtarget.c
#ifdef WIN32
#include <windows.h>
#else
#include <unistd.h>
#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 "pstsdk_c.h"
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <signal.h>
/* Control variable for main loop */
static sig_atomic_t running = 1;
/* Number of data points to grab before application termination */
static const uint32_t numberOfSamplesToGrab = 100;
/*
* 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)
{
static uint32_t samplesGrabbed = 0;
if (samplesGrabbed++ >= numberOfSamplesToGrab)
{
running = 0;
}
for (int d = 0; d < tracker_data->number_of_targets; ++d)
{
printf("Detected %s \n", tracker_data->targetlist[d].target.name);
}
}
/*
* Implement the exit handler to shut-down the PST Tracker connection on application termination.
*/
static void Exithandler(int sig)
{
pst_sdk_shutdown();
running = 0;
}
// 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[])
{
// 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
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
char* version_string;
CheckErrorCode(pst_tracker_alloc_and_get_version_info(&ctracker, &version_string));
// Print version number of the tracker server being used.
printf("Running PST Server version %s \n", version_string);
pst_free(version_string);
// Register the OnTrackerData callback function to the tracker server.
CheckErrorCode(pst_tracker_add_tracker_data_callback(&ctracker, &OnTrackerData));
printf("Put the Reference card in front of the PST in order to see tracking results.\n\n");
// Start the tracker server.
CheckErrorCode(pst_tracker_start(&ctracker));
// Perform a system check to see if the tracker server is running OK and print the result.
printf("System check: %i \n", pst_tracker_system_check(&ctracker));
// Retrieve the list of registered tracking targets and print their names and current status (active or not).
PstTargetStatus* statuses;
size_t number_of_statuses;
CheckErrorCode(pst_tracker_alloc_and_get_target_list(&ctracker, &statuses, &number_of_statuses));
printf("Found %zu tracking targets:\n", number_of_statuses);
for (int i = 0; i < number_of_statuses; ++i)
{
printf("%s\t%s\n", statuses[i].target.name, statuses[i].status ? "true" : "false");
}
printf("\n");
pst_free(statuses);
// Enable the Reference target. Note that this will return an error in case the Reference
// target has not been created. The Reference target can be created using the PST Client.
CheckErrorCode(pst_tracker_set_target_status(&ctracker, "Reference", true));
PstTargetMarkers marker_list;
//Make sure to initialize the PstImage with ::PstTargetMarkers before using pst_tracker_get_target_markers function.
pst_target_markers_init(&marker_list);
// Get the 3D marker positions making up the Reference device and display them.
// Note that this will cause an error in case the Reference target has not been created.
CheckErrorCode(pst_tracker_get_target_markers(&ctracker, "Reference", &marker_list));
printf("3D marker positions making up the Reference target:\n");
for (int i = 0; i < marker_list.number_of_markers; ++i)
{
printf("x: %f\ty: %f\tz: %f\n", marker_list.markers[i].coordinates[0], marker_list.markers[i].coordinates[1], marker_list.markers[i].coordinates[2]);
}
printf("\n");
//Make sure to destroy PstTargetMarkers after using it.
pst_target_markers_destroy(&marker_list);
// Main loop, wait for auto-termination.
while (running == 1)
{
#ifdef WIN32
Sleep(100);
#else
usleep(100000);
#endif
}
// Make sure that the connection to the PST Tracker is shut down properly.
pst_tracker_destroy(&ctracker);
// Pause command line to see results.
printf("Press enter to continue...\n");
getchar();
return 0;
}
pst_tracker_get_target_markers
EPstErrorStatus pst_tracker_get_target_markers(const PstTracker *ctracker, const char *name, PstTargetMarkers *marker_list)
Get 3D marker positions of stored tracking target.
pst_tracker_alloc_and_get_target_list
EPstErrorStatus pst_tracker_alloc_and_get_target_list(const PstTracker *ctracker, PstTargetStatus **statuses, size_t *number_of_statuses)
Get TargetStatuses object containing all tracking targets and their status.
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_tracker_alloc_and_get_version_info
EPstErrorStatus pst_tracker_alloc_and_get_version_info(const PstTracker *ctracker, char **version_string)
Get version information of the SDK.
pst_tracker_set_target_status
EPstErrorStatus pst_tracker_set_target_status(PstTracker *ctracker, const char *name, bool set_active)
Set status of a single tracking Target.
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_target_markers_init
void pst_target_markers_init(PstTargetMarkers *marker_list)
pst_target_markers_destroy
void pst_target_markers_destroy(PstTargetMarkers *marker_list)
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.
pst_tracker_system_check
EPstStatusMessage pst_tracker_system_check(const PstTracker *ctracker)
Check if the tracker is running correctly.
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
PstTarget::name
char name[128]
Definition pstsdk_c.h:134
PstTargetMarker::coordinates
float coordinates[3]
Definition pstsdk_c.h:217
PstTargetMarkers
Collection struct for PstTargetMarker.
Definition pstsdk_c.h:229
PstTargetMarkers::number_of_markers
size_t number_of_markers
Definition pstsdk_c.h:231
PstTargetMarkers::markers
PstTargetMarker * markers
Definition pstsdk_c.h:230
PstTargetPose::target
PstTarget target
Definition pstsdk_c.h:200
PstTargetStatus
Tracking target status.
Definition pstsdk_c.h:152
PstTrackerData
Tracking information retrieved from tracker.
Definition pstsdk_c.h:248
PstTrackerData::number_of_targets
size_t number_of_targets
Definition pstsdk_c.h:251
PstTrackerData::targetlist
PstTargetPose * targetlist
Definition pstsdk_c.h:253
PstTracker
Main PST SDK struct for tracker communication.
Definition pstsdk_c.h:264