pst-sdk.h

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/*  -*- Mode: C; tab-width: 4 -*-
 *
 * Copyright (c) 2009-2019 PS-Tech B.V.
 * Falckstraat 53 hs, NL-1017 VV, Amsterdam, the Netherlands.
 * All rights reserved.
 *
 * This software is the confidential and proprietary information of Personal
 * Space Technologies, Inc. ("Confidential Information").  You shall not
 * disclose such Confidential Information and shall use it only in
 * accordance with the terms of the license agreement you entered into
 * with Personal Space Technologies.
 */

#ifndef _PST_SDK_H_
#define _PST_SDK_H_

#include <string>
#include <vector>
#include <array>

#if (defined(_WIN32) || defined(_MSC_VER) || defined(__MWERKS__) || defined(__BORLANDC__))
#    ifdef pstsdk_EXPORTS
#      define PST_EXPORT    __declspec(dllexport)
#    else
#      define PST_EXPORT    __declspec(dllimport)
#    endif 
#else
#    define PST_EXPORT
#endif

namespace PSTech
{
namespace pstsdk
{

    enum class StatusMessage
    {
        OK,                         
        NOT_INITIALIZED,            
        DISCONNECTED,               
        ERR_GENERAL,                
        ERR_TIMEOUT,                
        ERR_NOCAMS_FOUND,           
        ERR_NOTENOUGHTCAMS_FOUND,   
        ERR_INITERROR,              
        ERR_CANNOT_START_CAMS,      
        ERR_CANNOT_SETUP_CAMS       
    };

    struct Image
    {
        unsigned int                width;  
        unsigned int                height; 
        std::vector<unsigned char*> images; 
    };

    struct Target
    {
        std::string                 name;   
        std::string                 uuid;   
        int                         id;     
    };

    typedef std::vector<Target> Targets;

    struct TargetStatus : public Target
    {
        bool                        status; 
    };

    typedef std::vector<TargetStatus> TargetStatuses;

    struct TargetPose : public Target
    {
        std::array<float, 16>       pose;   
    };

    typedef std::vector<TargetPose> TargetPoses;

    struct Point
    {
        int                         id;         
        std::array<float, 3>        position;   
    };

    typedef std::vector<Point> Points;

    typedef std::vector<std::array<float, 3>> MarkerList;

    struct TrackerData
    {
        double                      timestamp;  
        int                         seqnumber;  
        TargetPoses                 targetlist; 
        Points                      datapoints; 
    };

    class Listener
    {
    public:
        virtual void OnTrackerData(TrackerData& data) { }
        virtual ~Listener() { }
    };

    class PST_EXPORT Tracker
    {
    public:
        Tracker(const std::string& path = "", const std::string& config_file = "server.cfg",
            const std::string& db_file = "models.db", const std::string& grabber_name = "default");
        ~Tracker();

        std::vector<std::string> GetUncalibratedCameraUrls(bool silent = false);

        std::string GetVersionInfo() const;

        std::string GetConfigPath() const;


        void AddTrackerListener(Listener* listener);

        void RemoveTrackerListener(Listener* listener);

        void Start();

        void Pause();

        void Shutdown();

        StatusMessage Systemcheck() const;


        void SetFramerate(double fps);

        double GetFramerate() const;

        std::vector<float> GetSupportedFramerates() const;

        void SetExposure(float time);

        float GetExposure() const;

        void GetExposureRange(double& min, double& max) const;

        void EnableFiltering();

        void DisableFiltering();

        void SetPositionFilter(double value);

        void SetOrientationFilter(double value);

        void EnableTremorFilter();

        void DisableTremorFilter();


        void EnableImageTransfer();

        void DisableImageTransfer();

        bool GetImage(Image& image) const;


        TargetStatuses GetTargetList() const;

        Target GetTargetInfo(const std::string& name) const;

        void SetTargetStatus(const std::string& name, bool active);

        bool GetTargetStatus(const std::string& name) const;

        MarkerList GetTargetMarkers(const std::string& name) const;

        void SetTargetId(const std::string& name, int id);

        void SetReference(const std::array<float, 16>& reference, bool relative = false);

        void SetDefaultReference();

        std::array<float, 16> GetReference() const;

        void EnableSharedMemory();

        void DisableSharedMemory();

        void EnableRestServer(const std::string& server_address, const std::string& server_port, const int& eventStream_retry_timeout_ms = 3000);
        
        void DisableRestServer();
    };
}
}

#endif // _PST_SDK_H_