This example shows how to use the PST SDK to adjust the PSt Tracker reference system. The reference system defines the Cartesian coordinate system in which tracking results are reported. The example shows how to set the reference system by supplying a 4x4 homogeneous transformation matrix. It also shows how to check if the reference system was set successfully.
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). On Windows, the Visual Studio project files are configured to use a relative path to the Development\Redist
directory as the working directory. If the examples have been copied, please ensure the working directory is still valid.
#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 <iostream>
#include <thread>
#include <chrono>
{
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 = 1000;
{
{
static uint32_t samplesGrabbed = 0;
if (samplesGrabbed++ >= numberOfSamplesToGrab)
running = false;
}
} listener;
static void Exithandler(int sig)
{
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
#else
#endif
std::cout <<
"Running PST Server version " << pst.
GetVersionInfo() <<
"\n";
std::cout <<
"System check: " << (int)pst.
Systemcheck() <<
"\n";
std::cout <<
"Frame rate set to " << pst.
GetFramerate() <<
"\n\n";
std::cout << "*******************\n\n";
std::cout << "Current reference system transformation matrix:\n";
std::cout << "\n\n*******************\n\n";
0.0f, 0.0f, 1.0f, -0.5f,
0.0f, 1.0f, 0.0f, 0.5f,
0.0f, 0.0f, 0.0f, 1.0f };
std::cout << "New reference system transformation matrix:\n";
std::cout << "Reference not set correctly!\n";
else
std::cout << "Reference set correctly!\n";
std::cout << "\n\n*******************\n\n";
0.0f, 0.0f, -1.0f, -0.5f,
0.0f, -1.0f, 0.0f, 0.5f,
0.0f, 0.0f, 0.0f, 1.0f };
std::cout << "New reference system after applying non-orthonormal transformation:\n";
std::cout << "Reference input correctly ignored!\n";
else
std::cout << "Reference input incorrectly applied!\n";
std::cout << "\n\n*******************\n\n";
1.0f, 0.0f, 0.0f, 0.4f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f };
std::cout << "New reference system after applying relative transformation:\n";
std::cout << "\n\n*******************\n\n";
std::cout << "Reset default reference system:\n";
while (running)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
}
{
}
std::cout << "Press enter to continue...\n";
std::cin.get();
return 0;
}