reference.c

 
#ifdef WIN32
#include <windows.h>
#else
#include <unistd.h>
#include <sys/signal.h>
#endif
 
/*
 * Define handler functions required to ensure a clean shutdown of the PST Tracker when the
 * application is terminated.
 */
 
static void Exithandler(int sig);
 
#ifdef WIN32
BOOL WINAPI ConsoleHandler(DWORD CEvent)
{
    Exithandler(CEvent);
    return TRUE;
}
#endif
 
/* End of handler functions */
 
#include "pstsdk_c.h"
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <math.h>
 
/*
 * Helper function for clear printing of 4x4 matrices.
 */
static inline void PrintMatrix(float mat[16])
{
    for (int y = 0; y < 4; ++y)
    {
        for (int x = 0; x < 4; ++x)
        {
            printf("%f \t", mat[x + y * 4]);
        }
        printf("\n");
    }
}
 
/* Control variable for main loop */
static bool running = true;
 
/* Number of data points to grab before application termination */
static const uint32_t numberOfSamplesToGrab = 1000;
 
/*
 * 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)
{
    static uint32_t samplesGrabbed = 0;
    if (samplesGrabbed++ >= numberOfSamplesToGrab)
        running = false;
 
    // Do something with the received data.
}
 
/*
* Implement the exit handler to shut-down the PST Tracker connection on application termination.
*/
static void Exithandler(int sig)
{
    pst_sdk_shutdown();
    running = false;
}
 
// 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);
    }
}
 
// Check reference values of the arrays are equal.
bool IsEqual(float get_reference[16], float set_reference[16])
{
    float eps = 1e-4f;
    bool references_are_equal = true;
    for (size_t i = 0; i < 16; ++i)
    {
        references_are_equal = references_are_equal && (fabs(get_reference[i] - set_reference[i]) < eps);
    }
    return references_are_equal;
}
 
int main(int argc, char *argv[])
{
    // Register the exit handler with the application
#ifdef WIN32
    SetConsoleCtrlHandler((PHANDLER_ROUTINE)ConsoleHandler, TRUE);
#else
    signal(SIGTERM, Exithandler);
    signal(SIGKILL, Exithandler);
    signal(SIGQUIT, Exithandler);
    signal(SIGINT, Exithandler);
#endif
 
    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
 
    char* version_string;
    CheckErrorCode(pst_tracker_alloc_and_get_version_info(&ctracker, &version_string));
    // Print version number of the tracker server being used.
    printf("Running PST Server version %s \n", version_string);
    pst_free(version_string);
 
    // 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));
 
    // Perform a system check to see if the tracker server is running OK and print the result.
    printf("System check: %i \n", pst_tracker_system_check(&ctracker));
 
    // Set the frame rate to 30 Hz.
    CheckErrorCode(pst_tracker_set_framerate(&ctracker, 30.0));
 
    // Print the new frame rate to see if it was set correctly. Note that for PST HD and Pico
    // trackers the frame rate actually being set can differ from the value provided to SetFramerate().
    double fps;
    CheckErrorCode(pst_tracker_get_framerate(&ctracker, &fps));
    printf("Frame rate set to %f\n\n", fps);
    printf("*******************\n\n");
 
    // Get the transformation matrix for the current reference system.
    printf("Current reference system transformation matrix:\n");
    float reference[16];
    CheckErrorCode(pst_tracker_get_reference(&ctracker, reference));
    PrintMatrix(reference);
    printf("\n\n*******************\n\n");
 
    // Define new reference system transformation matrix rotating the reference system by
    // 90 degrees around the X-axis and 180 degrees around the Y-axis. Then translate the
    // origin of the reference system by 0.1 m in the X direction, -0.5 m in the Y direction
    // and 0.5 m in the Z direction.
    float set_reference[16] = { -1.0f,  0.0f,  0.0f,  0.1f,
                            0.0f,  0.0f,  1.0f, -0.5f,
                            0.0f,  1.0f,  0.0f,  0.5f,
                            0.0f,  0.0f,  0.0f,  1.0f };
    CheckErrorCode(pst_tracker_set_reference(&ctracker, set_reference, false));
    printf("New reference system transformation matrix:\n");
    float get_reference[16];
    CheckErrorCode(pst_tracker_get_reference(&ctracker, get_reference));
    PrintMatrix(get_reference);
 
    // Check if the reference system was set according to the input.
    if (!IsEqual(get_reference, set_reference))
    {
        printf("Reference not set correctly!\n");
    }
    else
    {
        printf("Reference set correctly!\n");
    }
 
    printf("\n\n*******************\n\n");
 
    // Trying to set the reference using a non-orthonormal transformation matrix (this should fail).
    float non_orthonormal_set_reference[16] = { -1.0f,  1.0f,  0.0f,  0.1f,
                                            0.0f,  0.0f, -1.0f, -0.5f,
                                            0.0f, -1.0f,  0.0f,  0.5f,
                                            0.0f,  0.0f,  0.0f,  1.0f };
    CheckErrorCode(pst_tracker_set_reference(&ctracker, non_orthonormal_set_reference, false));
    printf("New reference system after applying non-orthonormal transformation:\n");
    float non_orthonormal_get_reference[16];
    CheckErrorCode(pst_tracker_get_reference(&ctracker, non_orthonormal_get_reference));
    PrintMatrix(non_orthonormal_get_reference);
 
    // Check to see if the reference was set, which shouldn't be the case.
    if (!IsEqual(non_orthonormal_get_reference, non_orthonormal_set_reference))
    {
        printf("Reference input correctly ignored!\n");
    }
    else
    {
        printf("Reference input incorrectly applied!\n");
    }
 
    printf("\n\n*******************\n\n");
 
    // Adjust the reference system by applying a relative transformation. The new reference system will have
    // the X-axis pointing outward from the tracker and the Y-axis parallel to the tracker front.
    float relative_set_reference[16] = {  0.0f, -1.0f,  0.0f,  0.5f,
                                    1.0f,  0.0f,  0.0f,  0.4f,
                                    0.0f,  0.0f,  1.0f,  0.0f,
                                    0.0f,  0.0f,  0.0f,  1.0f };
    CheckErrorCode(pst_tracker_set_reference(&ctracker, relative_set_reference, true));
    printf("New reference system after applying relative transformation:\n");
    float relative_get_reference[16];
    CheckErrorCode(pst_tracker_get_reference(&ctracker, relative_get_reference));
    PrintMatrix(relative_get_reference);
 
    printf("\n\n*******************\n\n");
 
    // Reset reference system to default (origin at 1 m form center of the PST Tracker,
    // Z-axis pointing outward from the PST Tracker).
    CheckErrorCode(pst_tracker_set_default_reference(&ctracker));
    printf("Reset default reference system:\n");
    float get_default_reference[16];
    CheckErrorCode(pst_tracker_get_reference(&ctracker, get_default_reference));
    PrintMatrix(get_default_reference);
 
    // Main loop, wait for auto-termination.
    while (running)
    {
#ifdef WIN32
        Sleep(100);
#else
        usleep(100000);
#endif
    }
 
    // Make sure that the connection to the PST Tracker is shut down properly.
    pst_tracker_destroy(&ctracker);
 
    // Pause command line to see results.
    printf("Press enter to continue...\n");
    getchar();
 
    return 0;
}