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images/images.cs
// Copyright PS-Tech B.V. All Rights Reserved.
using System;
using System.Runtime.InteropServices;
using System.Threading;
using PSTech.Pstsdk;
namespace PSTech.Images
{
public class Images
{
/*
* Define handler functions required to ensure a clean shutdown of the PST Tracker when the
* application is terminated.
*/
[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;
}
// Control variable for main loop.
static bool Running = true;
// Number of data points to grab before application termination.
static int NumberOfSamplesToGrab = 1000;
static int SamplesGrabbed = 0;
class MyTrackerListener : TrackerListener
{
public override void OnTrackerData(TrackerData data, ErrorStatus status)
{
if (SamplesGrabbed++ >= NumberOfSamplesToGrab)
{
Running = false;
}
// Do something with the received data.
}
}
static void Exithandler(int sig)
{
Tracker.Shutdown(); // Cleans up native resources only; does NOT remove listeners
Environment.Exit(0);
}
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())
{
// 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);
// 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\n");
Console.Write("***************************\n\n");
// Set the frame rate to 60 Hz.
tracker.SetFramerate(60);
Console.Write("Current frame rate: " + tracker.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.
tracker.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.
Console.Write("Enabled image transfer. Current frame rate: " + tracker.GetFramerate() + " Hz\n\n");
Console.Write("***************************\n\n");
// Try to capture 100 images.
for (int i = 0; i < 100; ++i)
{
// Try to get the last grabbed image.
// Note that enabling image transfer takes some time. While image transfer is being enabled,
// the images array in the PSTech.Pstsdk.Image object will be empty.
// Image object return array of Intptr to create images.
Pstsdk.Image images = tracker.GetImage();
Console.Write("Retrieval operation successful!\n");
Console.Write("Retrieved " + images.Images.Length + " 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
Thread.Sleep(17);
}
// Wait for 5 seconds, since this is > 4 seconds, image transfer will be disabled automatically.
Console.Write("Waiting 5 seconds for image transfer to be automatically disabled...\n\n");
Thread.Sleep(5000);
// Try to grab one image. Since image retrieval timed out, it should return an empty image vector.
Pstsdk.Image image = tracker.GetImage();
Console.Write("Retrieval operation successful!\n");
Console.Write("Retrieved " + image.Images.Length + " image(s) of size: " + image.Width + " X " + image.Height + "\n\n");
// Main loop, wait for auto-termination.
while (Running)
{
Thread.Sleep(100);
}
}
}
catch (Exception e)
{
// Catch PSTech.TrackerException exceptions and print error messages.
Console.Write(e + "\n");
}
// Pause command line to see results.
Console.Write("Press enter to continue...\n");
Console.Read();
return 0;
}
}
}
Exception
PSTech.Pstsdk.Image
Images retrieved from the tracker.
Definition Image.cs:20
PSTech.Pstsdk.TrackerData
Tracking information retrieved from tracker.
Definition TrackerData.cs:25
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.EnableImageTransfer
void EnableImageTransfer()
Enable image transfer from the PST Tracker.
Definition Tracker.cs:758
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.GetImage
Image GetImage()
Retrieve images from the connected PST Tracker.
Definition Tracker.cs:783
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.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.ErrorStatus
ErrorStatus
Tracker error messages enum class.
Definition ErrorHandler.cs:17