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exposure.c

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

This example shows how to adjust exposure settings using the PST SDK. It shows how to change exposure settings based on frame rate and the available exposure range for a certain PST Tracker at a certain frame rate.

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.).

#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 = 1000;
/*
* 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;
// Do something with the received data.
}
/*
* 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));
// 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\n", (int)pst_tracker_system_check(&ctracker));
printf("***************************\n\n");
// Set the frame rate to 30 Hz.
CheckErrorCode(pst_tracker_set_framerate(&ctracker, 30.0));
// 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 pst_tracker_set_framerate().
double fps;
CheckErrorCode(pst_tracker_get_framerate(&ctracker, &fps));
printf("Frame rate set to %f Hz\n", fps);
// Query available exposure range for the current frame rate and try setting the maximum exposure value
double min, max;
CheckErrorCode(pst_tracker_get_exposure_range(&ctracker, &min, &max));
printf("Exposure range: %f s - %f s\n", min, max);
printf("Set exposure to %f \n", max);
CheckErrorCode(pst_tracker_set_exposure(&ctracker, max));
double exposure;
CheckErrorCode(pst_tracker_get_exposure(&ctracker, &exposure));
printf("Check new exposure: %f s\n\n", exposure);
printf("***************************\n\n");
// Increase frame rate and check exposure value. For PST HD and PST Pico trackers, maximum exposure
// depends on frame rate. Exposure will be automatically decreased when necessary.
printf("Set frame rate to 60 Hz\n");
CheckErrorCode(pst_tracker_set_framerate(&ctracker, 60.0));
CheckErrorCode(pst_tracker_get_framerate(&ctracker, &fps));
printf("Frame rate set to %f Hz\n", fps);
CheckErrorCode(pst_tracker_get_exposure(&ctracker, &exposure));
printf("Check exposure: %f s\n", exposure);
// Check new exposure range
CheckErrorCode(pst_tracker_get_exposure_range(&ctracker, &min, &max));
printf("New exposure range %f s - %f s\n\n", min, max);
printf("***************************\n\n");
// Set exposure half-way
double exposureHalf = min + (max - min) / 2.0;
printf("Set exposure half way: %f s\n", exposureHalf);
CheckErrorCode(pst_tracker_set_exposure(&ctracker, exposureHalf));
CheckErrorCode(pst_tracker_get_exposure(&ctracker, &exposure));
printf("New exposure: %f s\n\n", exposure);
printf("***************************\n\n");
// 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_exposure_range
EPstErrorStatus pst_tracker_get_exposure_range(const PstTracker *ctracker, double *min, double *max)
Get the allowed exposure range.
pst_tracker_get_framerate
EPstErrorStatus pst_tracker_get_framerate(const PstTracker *ctracker, double *fps)
Get current frame rate.
pst_tracker_set_exposure
EPstErrorStatus pst_tracker_set_exposure(PstTracker *ctracker, double time)
Set the exposure time.
pst_tracker_init
EPstErrorStatus pst_tracker_init(PstTracker *ctracker)
This function initializes the tracker object.
pst_tracker_get_exposure
EPstErrorStatus pst_tracker_get_exposure(const PstTracker *ctracker, double *exposure)
Get the current exposure time.
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_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_set_framerate
EPstErrorStatus pst_tracker_set_framerate(PstTracker *ctracker, double fps)
Set tracker frame rate.
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
PstTrackerData
Tracking information retrieved from tracker.
Definition pstsdk_c.h:248
PstTracker
Main PST SDK struct for tracker communication.
Definition pstsdk_c.h:264