Main PST SDK class implementing tracker communication. More...

Public Member Functions
def	__init__ (self, path="", config_file="", db_file="", grabber_name="")
	Tracker constructor. More...

def	__enter__ (self)

def	__exit__ (self, ex_type, ex_value, ex_traceback)

def	get_uncalibrated_camera_urls (self, silent=False)
	Check if cameras of the connected PST Tracker are calibrated. More...

def	get_version_info (self)
	Get version information of the SDK. More...

def	get_config_path (self)
	Get the path to the current configuration directory. More...

def	add_tracker_listener (self, callback_function)
	Add a listener for tracker data. More...

def	remove_tracker_listener (self, callback_function)
	Remove a listener for tracker data. More...

def	start (self)
	Start tracking. More...

def	pause (self)
	Pause tracking. More...

def	system_check (self)
	Check if the tracker is running correctly. More...

def	set_framerate (self, float framerate)
	Set tracker frame rate. More...

def	get_framerate (self)
	Get current frame rate. More...

def	get_supported_framerates (self)
	Get vector of available frame rates. More...

def	set_exposure (self, exposure)
	Set the exposure time. More...

def	get_exposure (self)
	Get the current exposure time. More...

def	get_exposure_range (self)
	Get the allowed exposure range. More...

def	enable_filtering (self)
	Enable filtering of the tracking results. More...

def	disable_filtering (self)
	Disable filtering of the tracking results. More...

def	set_position_filter (self, value)
	Set the strength of the position filter. More...

def	set_orientation_filter (self, value)
	Set the strength of the orientation filter. More...

def	enable_tremor_filter (self)
	Enable the tremor filter. More...

def	disable_tremor_filter (self)
	Disable the tremor filter. More...

def	enable_image_transfer (self)
	Enable image transfer from the PST Tracker. More...

def	disable_image_transfer (self)
	Disable image transfer from the PST Tracker. More...

def	get_image (self)
	Retrieve images from the connected PST Tracker. More...

def	get_target_list (self)
	Get TargetStatuses object containing all tracking targets and their status. More...

def	get_target_info (self, name)
	Get basic tracking target information. More...

def	set_target_status (self, target_name, active)
	Set status of a single tracking Target. More...

def	get_target_status (self, name)
	Get status of a single tracking Target. More...

def	get_target_markers (self, target_name)
	Get 3D marker positions of stored tracking Target. More...

def	set_target_id (self, name, target_id)
	Set the id of the tracking target. More...

def	set_reference (self, reference, relative=False)
	Set the reference system in which tracking results are reported. More...

def	set_default_reference (self)
	Reset the reference system to the default reference system. More...

def	get_reference (self)
	Gets the transformation matrix for the current reference system. More...

Static Public Member Functions
def	enable_shared_memory ()
	Enable shared memory communication layer. More...

def	disable_shared_memory ()
	Disable shared memory communication layer. More...

def	enable_rest_server (address="localhost", port="7278", event_stream_retry_timeout=3000)
	Enable a REST Server using the HTTP protocol on a local area network. More...

def	disable_rest_server ()
	Disable the REST server communication layer. More...

def	shutdown ()
	Shutdown the tracking system, stopping tracking. More...

Detailed Description

Main PST SDK class implementing tracker communication.

This class implements the main PST SDK functionality. Examples on how to use this class and how to get data from the PST Tracker can be found in the Examples section.

Constructor & Destructor Documentation

◆ init()

def pstech.pstsdk.tracker.Tracker.__init__	(	self,
		path = `""`,
		config_file = `""`,
		db_file = `""`,
		grabber_name = `""`
	)

Tracker constructor.

   Construct Tracker object and initialize connected PST tracker. Camera calibration information is checked during initialization.
   When calibration files for the connected tracker can not be found, a message with download links will be printed to the command line.

Parameters

path	Path to the configuration directory to be used for storing camera calibrations, target database and configuration files. Use "" for default. (default: "%PROGRAMDATA%\PS-Tech\PST Iris" on Windows or ~/.pstiris on Linux)
config_file	Name of the server configuration file. Use "" for default. (default: "server.cfg")
db_file	Name of the tracking target database file. Use "" for default. (default: "models.db")
grabber_name	Name of the grabber plugin to be used. Can contain absolute or relative path to xml config file. Set to "default" to use auto-detect. (default: "default")

Exceptions

NotInitializedError	Unable to initialize Tracker
TrackerError	Tracker was not initialized correctly

See also: Tracker.get_uncalibrated_camera_urls; errors.NotInitializedError; errors.TrackerError

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Member Function Documentation

◆ enter()

def pstech.pstsdk.tracker.Tracker.__enter__ ( self )

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◆ exit()

def pstech.pstsdk.tracker.Tracker.__exit__	(	self,
		ex_type,
		ex_value,
		ex_traceback
	)

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◆ add_tracker_listener()

def pstech.pstsdk.tracker.Tracker.add_tracker_listener	(	self,
		callback_function
	)

Add a listener for tracker data.

   Register a listener to receive tracking information from the connected PST Tracker.

Parameters

callback_function The function that is used for the callback

See also: trackerdata.TrackerData; Tracker.remove_tracker_listener

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◆ disable_filtering()

def pstech.pstsdk.tracker.Tracker.disable_filtering ( self )

Disable filtering of the tracking results.

   Switch off filtering of the tracking results using the double exponential-based prediction filter (DESP).

See also: Tracker.enable_filtering; Tracker.disable_tremor_filtering

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◆ disable_image_transfer()

def pstech.pstsdk.tracker.Tracker.disable_image_transfer ( self )

Disable image transfer from the PST Tracker.

   Disable transferring grayscale image data from the PST Tracker. When using a standard PST Iris or PST Base tracker,
   the frame rate of the tracker will be restored to the frame rate that was set before enabling image transfer.

See also: Tracker.enable_image_transfer

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◆ disable_rest_server()

def pstech.pstsdk.tracker.Tracker.disable_rest_server ( )

static

Disable the REST server communication layer.

   Disable the REST server communication layer. If a REST server is running, the connections will be closed and the REST server will be destroyed.
   If no REST server is running a call to Tracker.disable_rest_server() does nothing.

See also: Tracker.enable_rest_server

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◆ disable_shared_memory()

def pstech.pstsdk.tracker.Tracker.disable_shared_memory ( )

static

Disable shared memory communication layer.

   Disable the shared memory-based communication layer. The PST-Client application will no longer be able to connect to the PST Tracker.

See also: Tracker.enable_shared_memory

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◆ disable_tremor_filter()

def pstech.pstsdk.tracker.Tracker.disable_tremor_filter ( self )

Disable the tremor filter.

   Disables the tremor filter. The tremor filter will no longer be used to filter the estimated target pose.

See also: Tracker.enable_tremor_filter; Tracker.disable_filtering

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◆ enable_filtering()

def pstech.pstsdk.tracker.Tracker.enable_filtering ( self )

Enable filtering of the tracking results.

   Switch on filtering of the tracker results using a double exponential-based prediction filter (DESP).
   This will result in smoother tracking with less noise. It can have a small impact on tracker accuracy.

Note: When the shared memory communication pipeline is used to connect the PST-Client application to the SDK, filtering will be disabled upon starting the PST-Client application. To prevent multiple filter passes, filtering should not be re-enabled until the PST-Client application is closed.

See also: Tracker.disable_filtering; Tracker.set_position_filter; Tracker.set_orientation_filter; Tracker.enable_tremor_filter; Tracker.enable_shared_memory

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◆ enable_image_transfer()

def pstech.pstsdk.tracker.Tracker.enable_image_transfer ( self )

Enable image transfer from the PST Tracker.

   Enable transferring grayscale image data from the PST Tracker. After enabling image transfer, call Tracker.get_image()
   in order to receive the captured images. When no calls are made to Tracker.get_image() for more than 4 seconds, image
   transfer will be automatically disabled. Note that for the standard PST Iris and standard PST Base trackers, enabling image
   transfer will result in a reduced framerate of 30 fps. The frame rate will be restored to the original setting after
   image transfer is disabled.

See also: Tracker.get_image; Tracker.disable_image_transfer

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◆ enable_rest_server()

def pstech.pstsdk.tracker.Tracker.enable_rest_server	(	address = `"localhost"`,
		port = `"7278"`,
		event_stream_retry_timeout = `3000`
	)

static

Enable a REST Server using the HTTP protocol on a local area network.

   Enable a REST Server that uses the HTTP protocol to enable access to the PST Tracker over a local area network.
   Parameters from the tracker can be accessed using GET requests. Tracking results and image can be streamed using an Event-stream based communication pipeline.
   The state of the tracker and parameters can be set through POST calls.
   If a REST server is aleady running, calling Tracker.enable_rest_server() will terminate the current server and restart it with the new parameters.
   More information on how to use the REST server can be found in the REST documentation.

Note: A Tracker object must have been initialized before enabling shared memory.

Parameters

address	The IP address on which the REST server should be accessible (default: localhost).
port	The port number on which the REST server should be accessible (default:7278).
event_stream_retry_timeout	Timeout in milliseconds before an eventstream attempt to reconnect to the server automatically (default:3000).

Exceptions

HTTPError	The REST server failed to initialize properly. A possible cause could be an invalid IP address or port number.
NotInitializedError	A Tracker object must have been initialized before enabling the REST server.

See also: Tracker.disable_rest_server; errors.HTTPError; errors.NotInitializedError

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◆ enable_shared_memory()

def pstech.pstsdk.tracker.Tracker.enable_shared_memory ( )

static

Enable shared memory communication layer.

   Enable a shared memory-based communication layer. Enabling shared memory will allow the PST-Client application to connect to the SDK.
   This will allow receiving tracking data and setting parameters using the PST-Client application.
   Note that a PST-Client that is connected in this way will not be updated when settings are changed through the SDK. This could cause
   instabilities in the PST software. It is recommended to only use this function when setting up a PST Tracker (e.g. adding tracking
   targets or retrieving calibration data). When using a tracker in normal operation, it is recommended to choose to use either the
   PST-Client application or the SDK and not mix usage.

Note: When using shared memory on Windows the application needs to have elevated access (run as Administrator). When running without elevated access the PST-Client will not be able to connect.; When the shared memory communication pipeline is used to connect the PST-Client application to the SDK, filtering will be disabled upon starting the PST-Client application. To prevent multiple filter passes, filtering should not be re-enabled until the PST-Client application is closed.; A Tracker object must have been initialized before enabling shared memory.

Exceptions

NotInitializedError A Tracker object must have been initialized before enabling shared memory.

See also: Tracker.disable_shared_memory; Tracker.enable_filtering; Tracker.enable_tremor_filter; errors.NotInitializedError

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◆ enable_tremor_filter()

def pstech.pstsdk.tracker.Tracker.enable_tremor_filter ( self )

Enable the tremor filter.

   Enables the tremor filter. This filter greatly reduces the noise levels of the estimated target pose. However, using the filter introduces latency
   to the tracking results received and lowers tracking accuracy. This filter is mainly useful when using the PST Tracker in an interaction-type setting.
   When the PST Tracker is used for measurement purposes, enabling the tremor filter is not recommended.

Note: When the shared memory communication pipeline is used to connect the PST-Client application to the SDK, filtering will be disabled upon starting the PST-Client application. To prevent multiple filter passes, filtering should not be re-enabled until the PST-Client application is closed.

See also: Tracker.disable_tremor_filter; Tracker.enable_filtering

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◆ get_config_path()

def pstech.pstsdk.tracker.Tracker.get_config_path ( self )

Get the path to the current configuration directory.

   Retrieves the full path to the configuration directory currently being used by the PST Tracker. The default path is "%PROGRAMDATA%/PS-Tech/PST Iris" on Windows or ~/.pstiris on Linux.
   The configuration directory contains the target model database, server configuration, reference file and tracker calibration information.

Returns: The full path to the configuration directory.

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◆ get_exposure()

def pstech.pstsdk.tracker.Tracker.get_exposure ( self )

Get the current exposure time.

   Get the current exposure time as set on the PST Tracker.

Returns: The current exposure time in seconds.

See also: Tracker.set_exposure

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◆ get_exposure_range()

def pstech.pstsdk.tracker.Tracker.get_exposure_range ( self )

Get the allowed exposure range.

   Get the minimum and maximum exposure value that can be set with the current frame rate.
   The maximum exposure value differs for different frame rates and PST Trackers.
   In general, lower frame rates allow for higher exposures and higher frame rates have a
   lower maximum exposure value. After changing the frame rate it is advised to check the
   currently allowed range before changing exposure values.

Returns: Tuple of minimum and maximum exposure value that can be set.

See also: Tracker.get_exposure; Tracker.set_exposure; Tracker.set_framerate

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◆ get_framerate()

def pstech.pstsdk.tracker.Tracker.get_framerate ( self )

Get current frame rate.

   Get the current frame rate as set on the PST Tracker.

Returns: Current frame rate in frames per second (fps).

See also: Tracker.set_framerate; Tracker.get_supported_framerates

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◆ get_image()

def pstech.pstsdk.tracker.Tracker.get_image ( self )

Retrieve images from the connected PST Tracker.

   Retrieve images from the PST Tracker when image transfer has been enabled. When image transfer has not been enabled by
   calling Tracker.enable_image_transfer() before calling this method, Image.images will be an empty list. Note that
   image transfer will be automatically disabled when no call to this method is made for 4 seconds.

Returns: The image information retrieved from the PST Tracker.

See also: image.Image; Tracker.enable_image_transfer

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◆ get_reference()

def pstech.pstsdk.tracker.Tracker.get_reference ( self )

Gets the transformation matrix for the current reference system.

   Tracking results are reported relative to a predefined right-handed Cartesian coordinate system, called the reference system.
   The default reference system is located at 1 meter from the PST Tracker. It is oriented such that the Z-axis points away from
   the PST tracker and the X-axis is parallel to the PST tracker. The transformation matrix defining the reference system is a
   row-major 4x4 homogeneous transformation matrix.

Returns: The transformation matrix for the current reference system.

See also: Tracker.set_reference; Tracker.set_default_reference

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◆ get_supported_framerates()

def pstech.pstsdk.tracker.Tracker.get_supported_framerates ( self )

Get vector of available frame rates.

   Get a vector containing all frame rates that are available for the currently connected PST Tracker.
   The range of available frame rates differs for different types of PST Trackers. When using
   Tracker.set_framerate() to set a new frame rate, the frame rate of the PST Tracker will be set to the
   value provided by this function nearest to the value supplied to Tracker.set_framerate().

Returns: A list of available frame rates.

See also: Tracker.set_framerate; Tracker.get_framerate

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◆ get_target_info()

def pstech.pstsdk.tracker.Tracker.get_target_info	(	self,
		name
	)

Get basic tracking target information.

   Retrieves the name, uuid and id for the requested tracking target.

Parameters

name	The name of the tracking target.

Returns: Target object containing the basic target information.

Exceptions

NotFoundError Target name could not be found.

See also: target.Target; errors.NotFoundError

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◆ get_target_list()

def pstech.pstsdk.tracker.Tracker.get_target_list ( self )

Get TargetStatuses object containing all tracking targets and their status.

   Retrieves the list of all tracking targets defined in the tracking target database and returns them as a list of TargetStatus objects.

Returns: List of TargetStatus objects containing the information and status of all available tracking Targets.

See also: target.TargetStatus; Tracker.set_target_status; Tracker.get_target_status

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◆ get_target_markers()

def pstech.pstsdk.tracker.Tracker.get_target_markers	(	self,
		target_name
	)

Get 3D marker positions of stored tracking Target.

   Gets a list of the 3D positions of the markers making up the specified tracking Target. The returned positions are
   relative to the tracking Target origin.

Parameters

target_name Name of the tracking Target to get the marker positions of.

Returns: A list of tuples of 3D marker positions.

Exceptions

NotFoundError Target name could not be found.

See also: target.Target; errors.NotFoundError

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◆ get_target_status()

def pstech.pstsdk.tracker.Tracker.get_target_status	(	self,
		name
	)

Get status of a single tracking Target.

   Retrieves the status of a single tracking Target. Tracking targets can be either active (true) or inactive (false).

Parameters

name	The name of the tracking Target to get the status of.

Returns: Status of the tracking Target.

Exceptions

NotFoundError Target name could not be found.

See also: target.TargetStatus; Tracker.set_target_status; Tracker.get_target_list; errors.NotFoundError

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◆ get_uncalibrated_camera_urls()

def pstech.pstsdk.tracker.Tracker.get_uncalibrated_camera_urls	(	self,
		silent = `False`
	)

Check if cameras of the connected PST Tracker are calibrated.

   Check for calibration information of the cameras of the connected PST Tracker. When not all calibration information can be retrieved,
   download urls for the uncalibrated cameras will be returned. Furthermore, a message will be shown at the command line specifying which
   files are missing and where they can be downloaded.

Parameters

silent Set to True in order to disable printing of missing calibration information. (default: False)

Returns: List of URLs specifying the download location of calibration information for uncalibrated cameras. The size of the list is the number of uncalibrated cameras.

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◆ get_version_info()

def pstech.pstsdk.tracker.Tracker.get_version_info ( self )

Get version information of the SDK.

   Retrieves version information of the PST Server used by the SDK.

Returns: The version number of the PST Server.

See also: get_sdk_version

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◆ pause()

def pstech.pstsdk.tracker.Tracker.pause ( self )

Pause tracking.

   Pause the tracking system, stop producing tracking results and enter low-power mode.
   Tracking can be resumed with a subsequent call to start().

See also: Tracker.start

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◆ remove_tracker_listener()

def pstech.pstsdk.tracker.Tracker.remove_tracker_listener	(	self,
		callback_function
	)

Remove a listener for tracker data.

   Remove a listener receiving tracking information from the connected PST Tracker.

Parameters

callback_function The function that is previously added through Tracker.add_tracker_listener().

See also: Tracker.add_tracker_listener

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◆ set_default_reference()

def pstech.pstsdk.tracker.Tracker.set_default_reference ( self )

Reset the reference system to the default reference system.

   Resets the currently set reference system to the default reference system. The default system is defined by a 4x4 identity matrix.
   This places the origin of the reference system 1 meter away from the PST Tracker. It is oriented such that the Z-axis points away
   from the PST tracker and the X-axis is parallel to the PST tracker.

See also: Tracker.set_reference; Tracker.get_reference

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◆ set_exposure()

def pstech.pstsdk.tracker.Tracker.set_exposure	(	self,
		exposure
	)

Set the exposure time.

   Set the PST Tracker exposure time to the supplied time. This adjusts both the shutter speed of the PST Tracker and the time the
   IR illumination panel will be turned on.

Parameters

exposure Exposure time in seconds.

Exceptions

OutOfRangeError	The value supplied is not within the allowed range.
NotSupportedError	Exposure could not be set on the Tracker.

See also: Tracker.get_exposure; Tracker.get_exposure_range; errors.OutOfRangeError; errors.NotSupportedError

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◆ set_framerate()

def pstech.pstsdk.tracker.Tracker.set_framerate	(		self,
		float	framerate
	)

Set tracker frame rate.

   Set the PST Tracker frame rate to the value available for the connected PST Tracker nearest to the supplied value.

Parameters

framerate The new frame rate to be set.

Exceptions

NotSupportedError Supplied frame rate could not be set on the Tracker.

See also: Tracker.get_framerate; Tracker.get_supported_framerates; errors.NotSupportedError

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◆ set_orientation_filter()

def pstech.pstsdk.tracker.Tracker.set_orientation_filter	(	self,
		value
	)

Set the strength of the orientation filter.

   Set the strength of the double exponential-based prediction filter (DESP) that filters the estimated orientation of the tracked tracking targets.
   The supplied filtering value should be between 0 (no filtering) and 0.99 (maximum filtering).

Parameters

value Filtering strength to be used in range [0, 0.99]

See also: Tracker.enable_filtering; Tracker.set_position_filter

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◆ set_position_filter()

def pstech.pstsdk.tracker.Tracker.set_position_filter	(	self,
		value
	)

Set the strength of the position filter.

   Set the strength of the double exponential-based prediction filter (DESP) that filters the estimated positions of the tracked tracking targets.
   The supplied filtering value should be between 0 (no filtering) and 0.99 (maximum filtering).

Parameters

value Filtering strength to be used in range [0, 0.99]

See also: Tracker.enable_filtering; Tracker.set_orientation_filter

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◆ set_reference()

def pstech.pstsdk.tracker.Tracker.set_reference	(	self,
		reference,
		relative = `False`
	)

Set the reference system in which tracking results are reported.

   Sets the reference system relative to which tracking results are reported. The reference system is defined by a homogeneous transformation matrix
   (a row-major 4x4 matrix) representing a right-handed Cartesian coordinate system. The function checks if a valid, orthogonal transformation matrix has been
   supplied. When an invalid matrix has been supplied, it will not be applied. To check if the function was successful, please use Tracker.get_reference()
   and compare the result. As an optional parameter, the reference system can be set relative to the current reference system. When this option is used,
   the current reference system is transformed using the supplied transformation matrix. Otherwise, the current reference system is replaced by the
   supplied reference system.

Parameters

reference	The transformation matrix for the new reference system.
relative	When set to true, the current transformation matrix is transformed using the supplied transformation matrix.

See also: Tracker.get_reference; Tracker.set_default_reference

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◆ set_target_id()

def pstech.pstsdk.tracker.Tracker.set_target_id	(	self,
		name,
		target_id
	)

Set the id of the tracking target.

   This function changes the id of the tracking target. This id is mainly used when connecting to the PST Tracker through VRPN.

Parameters

name	The name of the tracking target to change the id of.
target_id	The new id of the tracking target.

Exceptions

NotFoundError Target name could not be found.

See also: target.Target; errors.NotFoundError

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◆ set_target_status()

def pstech.pstsdk.tracker.Tracker.set_target_status	(	self,
		target_name,
		active
	)

Set status of a single tracking Target.

   Sets the status of a single tracking Target to active (true) or inactive (false).

Parameters

target_name	The name of the tracking Target to set the status of.
active	New status of the tracking Target.

Exceptions

NotFoundError Target name could not be found.

See also: target.TargetStatus; Tracker.get_target_status; Tracker.get_target_list; errors.NotFoundError

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◆ shutdown()

def pstech.pstsdk.tracker.Tracker.shutdown ( )

static

Shutdown the tracking system, stopping tracking.

   Fully shutdown the tracking system, disconnecting from the PST Tracker.
   When the shared memory interface or the REST server have been enabled these will be disabled as well.
   In order to restart the tracker, a new instance of the Tracker class has to be created.

See also: Tracker.__init__; Tracker.disable_shared_memory; Tracker.disable_rest_server

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◆ start()

def pstech.pstsdk.tracker.Tracker.start ( self )

Start tracking.

   Start the tracking system and produce tracking results.

See also: Tracker.pause

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◆ system_check()

def pstech.pstsdk.tracker.Tracker.system_check ( self )

Check if the tracker is running correctly.

   Perform a system check, checking if the PST Tracker has been initialized correctly and if the system is running properly.
   In order to get continuous feedback on the status of the PST Tracker it is recommended to implement regular polling of this
   function. This way, issues that will not cause the software to crash (e.g. a camera disconnect) can be handled.

Returns: Current system status code as EStatusMessage enumeration member

See also: errors.EStatusMessage

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The documentation for this class was generated from the following file:

C:/CI/builds/aS8LEeTG/0/ps-tech/pst-installer/pstsdk/python/pstech/pstsdk/tracker.py

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ __enter__()

◆ __exit__()

◆ add_tracker_listener()

◆ disable_filtering()

◆ disable_image_transfer()

◆ disable_rest_server()

◆ disable_shared_memory()

◆ disable_tremor_filter()

◆ enable_filtering()

◆ enable_image_transfer()

◆ enable_rest_server()

◆ enable_shared_memory()

◆ enable_tremor_filter()

◆ get_config_path()

◆ get_exposure()

◆ get_exposure_range()

◆ get_framerate()

◆ get_image()

◆ get_reference()

◆ get_supported_framerates()

◆ get_target_info()

◆ get_target_list()

◆ get_target_markers()

◆ get_target_status()

◆ get_uncalibrated_camera_urls()

◆ get_version_info()

◆ pause()

◆ remove_tracker_listener()

◆ set_default_reference()

◆ set_exposure()

◆ set_framerate()

◆ set_orientation_filter()

◆ set_position_filter()

◆ set_reference()

◆ set_target_id()

◆ set_target_status()

◆ shutdown()

◆ start()

◆ system_check()

◆ init()

◆ enter()

◆ exit()