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images.cpp

This example can be found in `examples\cpp\images\images.cpp`. When the PST SDK has been installed through the PST Software Suite installer the examples can be found in the Development folder.

This example shows how to enable image transfer on the PST Tracker and how to use the PST SDK to retrieve images. Images are 8 bit grayscale and are stored as an `unsigned char*` without memory alignment or padding.

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.). On Windows, the Visual Studio project files are configured to use a relative path to the `Redist` directory as the working directory. If the examples have been copied, please ensure the working directory is still valid.

#ifdef WIN32
#include <windows.h>
#else
#include <csignal>
#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 <iostream>
#include <thread>
#include <chrono>
#include <atomic>
#include "pstsdk_cpp.h"
#include "TrackerExceptions.h"
#include "PstStringIoStream.h"
/* Control variable for main loop */
static std::atomic<bool> running(true);
/* Number of data points to grab before application termination */
static const uint32_t numberOfSamplesToGrab = 1000;
/*
* Implementation of the PSTech::pstsdk::Listener class to receive tracking data.
* The OnTrackerData() callback function receives the data as soon as it becomes
* available.
*/
class MyListener : public PSTech::pstsdk::Listener
{
virtual void OnTrackerData(const PSTech::pstsdk::TrackerData& td) override
{
static uint32_t samplesGrabbed = 0;
if (samplesGrabbed++ >= numberOfSamplesToGrab)
running = false;
// Do something with the received data.
}
public:
virtual ~MyListener() override
{
// Unregistering listener before destruction to prevent unwanted behavior
PSTech::pstsdk::Tracker::RemoveTrackerListener(this);
}
} listener;
/*
* Implement the exit handler to shut-down the PST Tracker connection on application termination.
*/
static void Exithandler(int sig)
{
PSTech::pstsdk::Tracker::Shutdown();
exit(0);
}
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
// 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.
#ifdef WIN32
PSTech::pstsdk::Tracker pst;
#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
PSTech::pstsdk::Tracker pst("","config.cfg","models.db",argv[1]);
#endif
// Print version number of the tracker server being used.
std::cout << "Running PST Server version " << pst.GetVersionInfo() << "\n";
// Register the listener object to the tracker server.
PSTech::pstsdk::Tracker::AddTrackerListener(&listener);
// Start the tracker server.
pst.Start();
// Perform a system check to see if the tracker server is running OK and print the result.
std::cout << "System check: " << (int)pst.Systemcheck() << "\n\n";
std::cout << "***************************\n\n";
// Set the frame rate to 60 Hz.
pst.SetFramerate(60);
std::cout << "Current frame rate: " << pst.GetFramerate() << " Hz\n\n";
// In order to start receiving images, enable image transfer. When image transfer is disabled,
// the vector of images returned by GetImage will be empty.
pst.EnableImageTransfer();
// The standard PST trackers will run at a reduced frame rate of 30 Hz when image transfer is enabled.
// However, since this frame rate is temporary for as long as image transfer is enabled, that frame rate
// will not be reported as the current frame rate.
std::cout << "Enabled image transfer. Current frame rate: " << pst.GetFramerate() << " Hz\n\n";
std::cout << "***************************\n\n";
// Try to capture 100 images.
for (int i = 0; i < 100; ++i)
{
// Get a reference to the last grabbed image in the PSTech::pstsdk::Image struct.
// Note that enabling image transfer takes some time. While image transfer is being enabled,
// the images vector in the PSTech::pstsdk::Image struct will be empty.
PSTech::pstsdk::Image images;
bool succes = pst.GetImage(images);
std::cout << "Retrieval operation " << ((succes) ? "successful!\n" : "unsuccessful!\n\n");
if (succes)
{
std::cout << "Retrieved " << images.images.size() << " image(s) of size: " << images.width << " X " << images.height << "\n\n";
// Do something with the image.
}
// Don't request images too fast, wait for around 1/60 seconds
std::this_thread::sleep_for(std::chrono::milliseconds(17));
}
// Wait for 5 seconds, since this is > 4 seconds, image transfer will be disabled automatically.
std::cout << "Waiting 5 seconds for image transfer to be automatically disabled...\n\n";
std::this_thread::sleep_for(std::chrono::milliseconds(5000));
// Try to grab one image. Since image retrieval timed out, it should return an empty image vector.
PSTech::pstsdk::Image images;
bool succes = pst.GetImage(images);
std::cout << "Retrieval operation " << ((succes) ? "successful!\n" : "unsuccessful!");
if (succes)
{
std::cout << "Retrieved " << images.images.size() << " image(s) of size: " << images.width << " X " << images.height << "\n\n";
}
// Main loop, wait for auto-termination.
while (running)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
}
catch (PSTech::TrackerException &e)
{
// Catch PSTech::TrackerException exceptions and print error messages.
std::cout << e.full_description() << "\n";
}
// Make sure that the connection to the PST Tracker is shut down properly.
PSTech::pstsdk::Tracker::Shutdown();
// Pause command line to see results.
std::cout << "Press enter to continue...\n";
std::cin.get();
return 0;
}
PstStringIoStream.h
TrackerExceptions.h
PSTech::PSTException::full_description
virtual const char * full_description() const
PSTech::TrackerException
Definition TrackerExceptions.h:54
PSTech::Utils::PstVector::size
size_type size() const
PSTech::pstsdk::Listener
Abstract listener class for receiving tracking information and tracking mode updates.
Definition pstsdk_cpp.h:38
PSTech::pstsdk::Listener::OnTrackerData
virtual void OnTrackerData(const TrackerData &data)
Callback function receiving tracking information from the tracker.
Definition pstsdk_cpp.h:49
PSTech::pstsdk::Tracker
Main PST SDK class implementing tracker communication.
Definition pstsdk_cpp.h:101
PSTech::pstsdk::Tracker::Start
void Start()
Start tracking.
PSTech::pstsdk::Tracker::GetVersionInfo
Utils::PstString GetVersionInfo() const
Get version information of the SDK.
PSTech::pstsdk::Tracker::GetImage
bool GetImage(Image &image) const
Retrieve images from the connected PST Tracker.
PSTech::pstsdk::Tracker::Systemcheck
StatusMessage Systemcheck() const
Check if the tracker is running correctly.
PSTech::pstsdk::Tracker::Shutdown
static void Shutdown()
Shutdown the tracking system, stopping tracking.
PSTech::pstsdk::Tracker::GetFramerate
double GetFramerate() const
Get current frame rate.
PSTech::pstsdk::Tracker::AddTrackerListener
static void AddTrackerListener(Listener *listener)
Add a listener for receiving tracker data and tracking mode updates.
PSTech::pstsdk::Tracker::RemoveTrackerListener
static void RemoveTrackerListener(Listener *listener)
Remove a listener for receiving tracker data and tracking mode updates.
PSTech::pstsdk::Tracker::SetFramerate
void SetFramerate(double fps)
Set tracker frame rate.
PSTech::pstsdk::Tracker::EnableImageTransfer
void EnableImageTransfer()
Enable image transfer from the PST Tracker.
pstsdk_cpp.h
PSTech::pstsdk::Image
Images retrieved from the tracker.
Definition PstTypes.h:28
PSTech::pstsdk::Image::images
Utils::PstVector< unsigned char * > images
Definition PstTypes.h:31
PSTech::pstsdk::Image::height
unsigned int height
Definition PstTypes.h:30
PSTech::pstsdk::Image::width
unsigned int width
Definition PstTypes.h:29
PSTech::pstsdk::TrackerData
Tracking information retrieved from tracker.
Definition PstTypes.h:173