minimal.c

This example can be found in Development\examples\c\minimal\minimal.c.

This is a bare minimum example showing how to connect to the PST SDK and how to register a listener to receive data.

Note that for simplicity reasons, this example does not take the recommended safety precautions to shut down the PST Tracker when the application shuts down. In an actual implementation, please follow the safety precautions recommended in the Safe Tracker Termination section of the Using PST SDK page of the manual. Examples of how to implement the safety precautions can be found in the other examples.

When compiling and running this example, please make sure that the required dependencies can be found by the executable (e.g. by copying the Development\Redist directory into the build directory).

 
#include "pstsdk_c.h"
#include <stdio.h>
#include <stdbool.h>
#include <stdlib.h>
#ifdef WIN32
#include <Windows.h>
#else
#include <unistd.h>
#endif
 
 /*
  * 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)
{
    // Do something with the tracker data in tracker_data
}
 
// 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[])
{
    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
 
    // Register the OnTrackerData callback function to the tracker server.
    CheckErrorCode(pst_tracker_add_tracker_listener(&ctracker, OnTrackerData));
 
    // Start the tracker server.
    CheckErrorCode(pst_tracker_start(&ctracker));
 
    // Wait for 10 seconds, allowing for the detection of tracking targets.
#ifdef WIN32
    Sleep(10000);
#else
    sleep(10);
#endif
    // Make sure that the connection to the PST Tracker is shut down properly.
    pst_tracker_destroy(&ctracker);
 
    return 0;
}