pstsdk_c.h

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// Copyright PS-Tech B.V. All Rights Reserved.
#pragma once
 
#if (defined(_WIN32) || defined(_MSC_VER) || defined(__MWERKS__) || defined(__BORLANDC__))
#    ifdef pstsdk_c_EXPORTS
#      define PST_C_EXPORT  __declspec(dllexport)
#    else
#      define PST_C_EXPORT  __declspec(dllimport)
#    endif
#else
#    define PST_C_EXPORT
#endif
 
#ifdef __cplusplus
extern "C" {
#else
#include <stdbool.h>
#include <stddef.h>
#endif
 
typedef enum EPstErrorStatus
{
    PST_ERROR_STATUS_OK                                 = 0, 
    PST_ERROR_STATUS_TRACKER_ERROR                      = 1, 
    PST_ERROR_STATUS_NOT_INITIALIZED_ERROR              = 2, 
    PST_ERROR_STATUS_NOT_SUPPORTED_ERROR                = 3, 
    PST_ERROR_STATUS_OUT_OF_RANGE_ERROR                 = 4, 
    PST_ERROR_STATUS_NOT_FOUND_ERROR                    = 5, 
    PST_ERROR_STATUS_HTTP_ERROR                         = 6, 
    PST_ERROR_STATUS_FAILED_TO_ALLOCATE_MEMORY_ERROR    = 7, 
    PST_ERROR_STATUS_NULLPTR_ERROR                      = 8, 
    PST_ERROR_STATUS_IMAGE_RETRIEVAL_FAILED_ERROR       = 9, 
} EPstErrorStatus;
 
typedef enum EPstStatusMessage
{
    PST_STATUSMESSAGE_OK                        =  0,   
    PST_STATUSMESSAGE_NOT_INITIALIZED           =  1,   
    PST_STATUSMESSAGE_DISCONNECTED              =  2,   
    PST_STATUSMESSAGE_ERR_GENERAL               =  3,   
    PST_STATUSMESSAGE_ERR_TIMEOUT               =  4,   
    PST_STATUSMESSAGE_ERR_NOCAMS_FOUND          =  5,   
    PST_STATUSMESSAGE_ERR_NOTENOUGHTCAMS_FOUND  =  6,   
    PST_STATUSMESSAGE_ERR_INITERROR             =  7,   
    PST_STATUSMESSAGE_ERR_CANNOT_START_CAMS     =  8,   
    PST_STATUSMESSAGE_ERR_CANNOT_SETUP_CAMS     =  9,   
    PST_STATUSMESSAGE_ERR_NULL_TRACKER_HANDLE   = 10,   
    PST_STATUSMESSAGE_ERR_UNKNOWN_STATUS        = 11,   
} EPstStatusMessage;
 
typedef struct PstImage
{
    size_t width;               
    size_t height;              
    size_t number_of_images;    
    unsigned char** images;     
} PstImage;
 
typedef struct PstTarget
{
    char name[128]; 
    char uuid[37];  
    int id;         
} PstTarget;
 
typedef struct PstTargetStatus
{
    PstTarget target;   
    bool status;        
} PstTargetStatus;
 
typedef struct PstTargetPose
{
    PstTarget target;       
    float pose_matrix[16];  
} PstTargetPose;
 
typedef struct PstTargetMarker
{
    float coordinates[3];   
} PstTargetMarker;
 
typedef struct PstTargetMarkers
{
    PstTargetMarker* markers;   
    size_t number_of_markers;   
} PstTargetMarkers;
 
typedef struct PstPoint
{
    int id;             
    float position[3];  
} PstPoint;
 
typedef struct PstTrackerData
{
    double timestamp;           
    int seqnumber;              
    size_t number_of_targets;   
    size_t number_of_points;    
    PstTargetPose* targetlist;  
    PstPoint* datapoints;       
} PstTrackerData;
 
typedef struct PstTracker
{
    void* tracker;
} PstTracker;
typedef struct PstUncalibratedCameraURLs
{
    char** url_data;        
    size_t number_of_urls;  
} PstUncalibratedCameraURLs;
 
PST_C_EXPORT EPstErrorStatus pst_alloc_and_get_last_error_message(char** cstring);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_init( PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_init1(PstTracker* ctracker, const char path[]);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_init2(PstTracker* ctracker, const char path[], const char config_file[]);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_init3(PstTracker* ctracker, const char path[], const char config_file[], const char db_file[]);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_init4(PstTracker* ctracker, const char path[], const char config_file[], const char db_file[], const char grabber_name[]);
 
PST_C_EXPORT void pst_tracker_destroy(PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_get_camera_urls(const PstTracker* ctracker, bool silent, PstUncalibratedCameraURLs* urls);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_alloc_and_get_version_info(const PstTracker* ctracker, char** version_string);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_alloc_and_get_config_path(const PstTracker* ctracker, char** config_path);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_add_tracker_listener(PstTracker* ctracker, void (*on_tracker_data)(const PstTrackerData* , EPstErrorStatus));
 
PST_C_EXPORT EPstErrorStatus pst_tracker_remove_tracker_listener(PstTracker* ctracker, void (*on_tracker_data)(const PstTrackerData* , EPstErrorStatus));
 
PST_C_EXPORT EPstErrorStatus pst_tracker_start(PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_pause(PstTracker* ctracker);
 
PST_C_EXPORT EPstStatusMessage pst_tracker_system_check(const PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_set_framerate(PstTracker* ctracker, double fps);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_get_framerate(const PstTracker* ctracker, double* fps);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_alloc_and_get_supported_framerates(const PstTracker* ctracker, float** framerates, size_t* number_of_framerates);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_set_exposure(PstTracker* ctracker, double time);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_get_exposure(const PstTracker* ctracker, double* exposure);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_get_exposure_range(const PstTracker* ctracker, double* min, double* max);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_enable_filtering(PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_disable_filtering(PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_set_position_filter(PstTracker* ctracker, double value);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_set_orientation_filter(PstTracker* ctracker, double value);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_enable_tremor_filter(PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_disable_tremor_filter(PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_enable_image_transfer(PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_disable_image_transfer(PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_get_pst_image(const PstTracker* ctracker, PstImage* image);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_alloc_and_get_target_list(const PstTracker* ctracker, PstTargetStatus** statuses, size_t* number_of_statuses);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_get_target_info(const PstTracker* ctracker, const char*  name, PstTarget* target);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_set_target_status(PstTracker* ctracker, const char*  name, bool set_active);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_get_target_status(const PstTracker* ctracker, const char* name, bool* status);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_get_target_markers(const PstTracker* ctracker, const char* name, PstTargetMarkers* marker_list);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_set_target_id(PstTracker* ctracker, const char* name, int id);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_set_reference(PstTracker* ctracker, const float creference[16], bool relative);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_set_default_reference(PstTracker* ctracker);
 
PST_C_EXPORT EPstErrorStatus pst_tracker_get_reference(const PstTracker* ctracker, float creference[16]);
 
PST_C_EXPORT EPstErrorStatus pst_sdk_enable_shared_memory();
 
PST_C_EXPORT void pst_sdk_disable_shared_memory();
 
PST_C_EXPORT EPstErrorStatus pst_sdk_enable_rest_server(const char* server_address, const char* server_port, int event_stream_retry_timeout);
 
PST_C_EXPORT void pst_sdk_disable_rest_server();
 
PST_C_EXPORT void pst_camera_urls_init(PstUncalibratedCameraURLs* urls);
 
PST_C_EXPORT void pst_camera_urls_destroy(PstUncalibratedCameraURLs* urls);
 
PST_C_EXPORT void pst_image_init(PstImage* image);
 
PST_C_EXPORT void pst_image_destroy(PstImage* image);
 
PST_C_EXPORT void pst_target_markers_init(PstTargetMarkers* marker_list);
 
PST_C_EXPORT void pst_target_markers_destroy(PstTargetMarkers* marker_list);
 
PST_C_EXPORT const char* pst_sdk_get_version();
 
PST_C_EXPORT void pst_sdk_enable_logging();
 
PST_C_EXPORT void pst_sdk_shutdown();
 
PST_C_EXPORT void pst_free(void* data);
 
#ifdef __cplusplus
}
#endif