#ifdef WIN32
#include <windows.h>
#else
#include <csignal>
#endif
static void Exithandler(int sig);
#ifdef WIN32
BOOL WINAPI ConsoleHandler(DWORD CEvent)
{
Exithandler(CEvent);
return TRUE;
}
#endif
#include <memory>
#include <iostream>
#include <thread>
#include <chrono>
static inline void PrintMatrix(const std::array<float, 16>& mat)
{
for (int y = 0; y < 4; ++y)
{
for (int x = 0; x < 4; ++x)
{
std::cout << mat[x + y * 4] << "\t";
}
std::cout << "\n";
}
}
static bool running = true;
static const uint32_t numberOfSamplesToGrab = 100;
{
{
static uint32_t samplesGrabbed = 0;
if (samplesGrabbed++ >= numberOfSamplesToGrab)
running = false;
{
std::cout <<
"Pose for " << td.
targetlist[d].name <<
"\n";
PrintMatrix(mat);
}
}
} listener;
std::shared_ptr<PSTech::pstsdk::Tracker> pst;
static void Exithandler(int sig)
{
pst->Shutdown();
running = false;
}
int main(int argc, char *argv[])
{
#ifdef WIN32
SetConsoleCtrlHandler((PHANDLER_ROUTINE)ConsoleHandler, TRUE);
#else
signal(SIGTERM, Exithandler);
signal(SIGKILL, Exithandler);
signal(SIGQUIT, Exithandler);
signal(SIGINT, Exithandler);
#endif
try
{
#ifdef WIN32
pst = std::make_shared<PSTech::pstsdk::Tracker>();
#else
pst = std::make_shared<PSTech::pstsdk::Tracker>("","config.cfg","models.db",argv[1]);
#endif
if (pst->GetUncalibratedCameraUrls(true).size() > 0)
{
std::cout << "\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";
std::cout << "Press enter to continue...\n";
std::cin.get();
return 1;
}
std::cout << "Running PST Server version " << pst->GetVersionInfo() << "\n";
pst->AddTrackerListener(&listener);
std::cout << "Put the Reference card in front of the PST in order to see tracking results.\n\n";
pst->Start();
std::cout << "System check: " << (int)pst->Systemcheck() << "\n";
pst->SetFramerate(30);
std::cout << "Frame rate set to " << pst->GetFramerate() << "\n";
while (running)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
}
{
std::cout << "Press enter to continue...\n";
std::cin.get();
}
pst->Shutdown();
return 0;
}