PST SDK  6.0.0.0-272350a
PSTech::pstsdk::Tracker Class Reference

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

#include <pstsdk_cpp.h>

Public Member Functions

 Tracker (const Utils::PstString &path="", const Utils::PstString &config_file="server.cfg", const Utils::PstString &db_file="models.db", const Utils::PstString &grabber_name="default")
 Tracker constructor. More...
 
 ~Tracker ()
 
void LoadCalibrationFromLocalPath (const Utils::PstString &path)
 Load calibration information from a given path. More...
 
TrackerData GetSingleMeasurement () const
 Retrieve the latest TrackerData available from the connected PST Tracker. More...
 
Utils::PstVector< Utils::PstStringGetConnectedCameraUrls (bool silent=false) const
 Get URLs of the calibration information for the connected PST Tracker. More...
 
Utils::PstVector< Utils::PstStringGetUncalibratedCameraUrls (bool silent=false)
 Check if cameras of the connected PST Tracker are calibrated. More...
 
Utils::PstString GetVersionInfo () const
 Get version information of the SDK. More...
 
Utils::PstString GetConfigPath () const
 Get the path to the current configuration directory. More...
 
void AddTrackerListener (Listener *listener)
 Add a listener for receiving tracker data and tracking mode updates. More...
 
void RemoveTrackerListener (Listener *listener)
 Remove a listener for receiving tracker data and tracking mode updates. More...
 
void Start ()
 Start tracking. More...
 
void Pause ()
 Pause tracking. More...
 
StatusMessage Systemcheck () const
 Check if the tracker is running correctly. More...
 
void SetFramerate (double fps)
 Set tracker frame rate. More...
 
double GetFramerate () const
 Get current frame rate. More...
 
Utils::PstVector< float > GetSupportedFramerates () const
 Get vector of available frame rates. More...
 
void SetExposure (double time)
 Set the exposure time. More...
 
double GetExposure () const
 Get the current exposure time. More...
 
void GetExposureRange (double &min, double &max) const
 Get the allowed exposure range. More...
 
void EnableFiltering ()
 Enable filtering of the tracking results. More...
 
void DisableFiltering ()
 Disable filtering of the tracking results. More...
 
void SetPositionFilter (double value)
 Set the strength of the position filter. More...
 
void SetOrientationFilter (double value)
 Set the strength of the orientation filter. More...
 
void EnableTremorFilter ()
 Enable the tremor filter. More...
 
void DisableTremorFilter ()
 Disable the tremor filter. More...
 
void EnableImageTransfer ()
 Enable image transfer from the PST Tracker. More...
 
void DisableImageTransfer ()
 Disable image transfer from the PST Tracker. More...
 
bool GetImage (Image &image) const
 Retrieve images from the connected PST Tracker. More...
 
TargetStatuses GetTargetList () const
 Get TargetStatuses object containing all tracking targets and their status. More...
 
Target GetTargetInfo (const Utils::PstString &name) const
 Get basic tracking target information. More...
 
void SetTargetStatus (const Utils::PstString &name, bool active)
 Set status of a single tracking Target. More...
 
bool GetTargetStatus (const Utils::PstString &name) const
 Get status of a single tracking Target. More...
 
MarkerList GetTargetMarkers (const Utils::PstString &name) const
 Get 3D marker positions of stored tracking Target. More...
 
void SetTargetId (const Utils::PstString &name, int id)
 Set the id of the tracking target. More...
 
void SetReference (const Utils::PstArray< float, 16 > &reference, bool relative=false)
 Set the reference system in which tracking results are reported. More...
 
void SetDefaultReference ()
 Reset the reference system to the default reference system. More...
 
Utils::PstArray< float, 16 > GetReference () const
 Gets the transformation matrix for the current reference system. More...
 
void ImportJSONModel (const Utils::PstString &json_model)
 Import a tracking target model into the target model database. More...
 
Utils::PstString ExportJSONModel (const Utils::PstString &model_name) const
 Export a tracking target model as a JSON-formatted string. More...
 
void RemoveTargetModel (const Utils::PstString &model_name)
 Remove a tracking target model from the target model database. More...
 

Static Public Member Functions

static void Shutdown ()
 Shutdown the tracking system, stopping tracking. More...
 
static void EnableSharedMemory ()
 Enable shared memory communication layer. More...
 
static void DisableSharedMemory ()
 Disable shared memory communication layer. More...
 
static void EnableRestServer (const Utils::PstString &server_address, const Utils::PstString &server_port, int eventStream_retry_timeout_ms=3000)
 Enable a REST Server using the HTTP protocol on a local area network. More...
 
static void DisableRestServer ()
 Disable the REST server communication layer. More...
 

Detailed Description

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.

Examples
exposure.cpp, images.cpp, listener.cpp, minimal.cpp, reference.cpp, restserver.cpp, sharedmemory.cpp, and trackingtarget.cpp.

Constructor & Destructor Documentation

◆ Tracker()

PSTech::pstsdk::Tracker::Tracker ( const Utils::PstString path = "",
const Utils::PstString config_file = "server.cfg",
const Utils::PstString db_file = "models.db",
const Utils::PstString grabber_name = "default" 
)

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
[in]pathPath 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)
[in]config_fileName of the server configuration file. Use "" for default. (default: "server.cfg")
[in]db_fileName of the tracking target database file. Use "" for default. (default: "models.db")
[in]grabber_nameName 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")
Attention
Before destroying a Tracker object the static Tracker::Shutdown() function must always be called to ensure proper shutdown.
See also
Tracker::GetUncalibratedCameraUrls()
Tracker::Shutdown()
Exceptions
PSTech::TrackerExceptionUnable to initialize Tracker
PSTech::NotInitializedExceptionTracker was not initialized correctly

◆ ~Tracker()

PSTech::pstsdk::Tracker::~Tracker ( )

Member Function Documentation

◆ AddTrackerListener()

void PSTech::pstsdk::Tracker::AddTrackerListener ( Listener listener)

Register a listener to receive tracking information and tracking mode updates from the connected PST Tracker. The use of this method requires an implementation of the Listener class to be made.

Parameters
[in]listenerA pointer to an implementation of the Listener class to function as a callback.
See also
Listener
TrackerData
TrackerMode
Tracker::RemoveTrackerListener()
Examples
exposure.cpp, images.cpp, listener.cpp, minimal.cpp, reference.cpp, and trackingtarget.cpp.

◆ DisableFiltering()

void PSTech::pstsdk::Tracker::DisableFiltering ( )

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

See also
Tracker::EnableFiltering()
Tracker::DisableTremorFilter()

◆ DisableImageTransfer()

void PSTech::pstsdk::Tracker::DisableImageTransfer ( )

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::EnableImageTransfer()

◆ DisableRestServer()

static void PSTech::pstsdk::Tracker::DisableRestServer ( )
static

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::DisableRestServer() does nothing.

See also
Tracker::EnableRestServer()
Examples
restserver.cpp.

◆ DisableSharedMemory()

static void PSTech::pstsdk::Tracker::DisableSharedMemory ( )
static

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::EnableSharedMemory()
Examples
sharedmemory.cpp.

◆ DisableTremorFilter()

void PSTech::pstsdk::Tracker::DisableTremorFilter ( )

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

See also
Tracker::EnableTremorFilter()
Tracker::DisableFiltering()

◆ EnableFiltering()

void PSTech::pstsdk::Tracker::EnableFiltering ( )

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::DisableFiltering()
Tracker::SetPositionFilter()
Tracker::SetOrientationFilter()
Tracker::EnableTremorFilter()
Tracker::EnableSharedMemory()

◆ EnableImageTransfer()

void PSTech::pstsdk::Tracker::EnableImageTransfer ( )

Enable transferring grayscale image data from the PST Tracker. After enabling image transfer, call Tracker::GetImage() in order to receive the captured images. When no calls are made to Tracker::GetImage() 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::GetImage()
Tracker::DisableImageTransfer()
Examples
images.cpp.

◆ EnableRestServer()

static void PSTech::pstsdk::Tracker::EnableRestServer ( const Utils::PstString server_address,
const Utils::PstString server_port,
int  eventStream_retry_timeout_ms = 3000 
)
static

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::EnableRestServer() 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 the REST server.
Parameters
[in]server_addressThe IP address on which the REST server should be accessible.
[in]server_portThe port number on which the REST server should be accessible.
[in]eventStream_retry_timeout_msTimeout in milliseconds before an eventstream attempt to reconnect to the server automatically.
See also
Tracker::DisableRestServer()
Exceptions
PSTech::NotInitializedExceptionA Tracker object must have been initialized before enabling the REST server.
PSTech::HttpExceptionThe REST server failed to initialize properly. A possible cause could be an invalid IP address or port number.
Examples
restserver.cpp.

◆ EnableSharedMemory()

static void PSTech::pstsdk::Tracker::EnableSharedMemory ( )
static

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.
See also
Tracker::DisableSharedMemory()
Tracker::EnableFiltering()
Tracker::EnableTremorFilter()
Exceptions
PSTech::NotInitializedExceptionA Tracker object must have been initialized before enabling shared memory.
Examples
sharedmemory.cpp.

◆ EnableTremorFilter()

void PSTech::pstsdk::Tracker::EnableTremorFilter ( )

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::DisableTremorFilter()
Tracker::EnableFiltering()

◆ ExportJSONModel()

Utils::PstString PSTech::pstsdk::Tracker::ExportJSONModel ( const Utils::PstString model_name) const

Export a tracking target model from the target model database as a JSON-formatted string. The string will be formatted according to the specification found in Appendix A of the PST Manual.

Parameters
[in]model_nameThe name of the target model to be exported.
Returns
A JSON-formatted string representing the requested tracking target model.
See also
Tracker::ImportJsonModel()
Exceptions
PSTech::NotFoundExceptionThe requested model was not found in the database.

◆ GetConfigPath()

Utils::PstString PSTech::pstsdk::Tracker::GetConfigPath ( ) const

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.

◆ GetConnectedCameraUrls()

Utils::PstVector<Utils::PstString> PSTech::pstsdk::Tracker::GetConnectedCameraUrls ( bool  silent = false) const

Returns and prints the URLs to download the calibration information for the cameras in the connected PST Tracker.

Parameters
[in]silentSet to true in order to disable printing of calibration information. (default: false)
Returns
Vector of URLs specifying the download location of the calibration information. The size of the vector is the number of connected cameras.

◆ GetExposure()

double PSTech::pstsdk::Tracker::GetExposure ( ) const

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

Returns
The current exposure time in seconds.
See also
Tracker::SetExposure()
Examples
exposure.cpp.

◆ GetExposureRange()

void PSTech::pstsdk::Tracker::GetExposureRange ( double &  min,
double &  max 
) const

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.

Parameters
[out]minThe minimum exposure value that can be set.
[out]maxThe maximum exposure value that can be set.
See also
Tracker::GetExposure()
Tracker::SetExposure()
Tracker::SetFramerate()
Examples
exposure.cpp.

◆ GetFramerate()

double PSTech::pstsdk::Tracker::GetFramerate ( ) const

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

Returns
Current frame rate in frames per second (fps).
See also
Tracker::SetFramerate()
Tracker::GetSupportedFramerates()
Examples
exposure.cpp, images.cpp, listener.cpp, and reference.cpp.

◆ GetImage()

bool PSTech::pstsdk::Tracker::GetImage ( Image image) const

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

Parameters
[out]imageThe image information retrieved from the PST Tracker.
Returns
Success of the operation as a boolean.
See also
Image
Tracker::EnableImageTransfer()
Examples
images.cpp.

◆ GetReference()

Utils::PstArray<float, 16> PSTech::pstsdk::Tracker::GetReference ( ) const

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::SetReference()
Tracker::SetDefaultReference()
Examples
reference.cpp.

◆ GetSingleMeasurement()

TrackerData PSTech::pstsdk::Tracker::GetSingleMeasurement ( ) const

Retrieve the latest TrackerData available from the connected PST Tracker. If this function is called before the tracking system is started with Tracker::Start(), the resulting TrackerData object will be empty.

Returns
The latest TrackerData retrieved from the PST Tracker.
See also
TrackerData
Tracker::Start()
Listener

◆ GetSupportedFramerates()

Utils::PstVector<float> PSTech::pstsdk::Tracker::GetSupportedFramerates ( ) const

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::SetFramerate() 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::SetFramerate().

Returns
A vector of available frame rates.
See also
Tracker::SetFramerate()
Tracker::GetFramerate()

◆ GetTargetInfo()

Target PSTech::pstsdk::Tracker::GetTargetInfo ( const Utils::PstString name) const

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

Parameters
[in]nameThe name of the tracking target.
Returns
Target object containing the basic target information.
See also
Target
Exceptions
PSTech::NotFoundExceptionTarget name could not be found.

◆ GetTargetList()

TargetStatuses PSTech::pstsdk::Tracker::GetTargetList ( ) const

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

Returns
TargetStatuses object containing the information and status of all available tracking Targets.
See also
TargetStatus
TargetStatuses
Tracker::SetTargetStatus()
Tracker::GetTargetStatus()
Examples
trackingtarget.cpp.

◆ GetTargetMarkers()

MarkerList PSTech::pstsdk::Tracker::GetTargetMarkers ( const Utils::PstString name) const

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
[in]nameName of the tracking Target to get the marker positions of.
Returns
A list of 3D marker positions.
See also
MarkerList
Target
Exceptions
PSTech::NotFoundExceptionTarget name could not be found.
Examples
trackingtarget.cpp.

◆ GetTargetStatus()

bool PSTech::pstsdk::Tracker::GetTargetStatus ( const Utils::PstString name) const

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

Parameters
[in]nameThe name of the tracking Target to get the status of.
Returns
Status of the tracking Target.
See also
TargetStatus
Tracker::SetTargetStatus()
Tracker::GetTargetList()
Exceptions
PSTech::NotFoundExceptionTarget name could not be found.

◆ GetUncalibratedCameraUrls()

Utils::PstVector<Utils::PstString> PSTech::pstsdk::Tracker::GetUncalibratedCameraUrls ( bool  silent = false)

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
[in]silentSet to true in order to disable printing of missing calibration information. (default: false)
Returns
Vector of URLs specifying the download location of calibration information for uncalibrated cameras. The size of the vector is the number of uncalibrated cameras.
Examples
listener.cpp.

◆ GetVersionInfo()

Utils::PstString PSTech::pstsdk::Tracker::GetVersionInfo ( ) const

Retrieves version information of the PST Server used by the SDK. This version can differ from the SDK version retrieved using GetSdkVersion().

Returns
The version number of the PST Server.
See also
GetSdkVersion()
Examples
exposure.cpp, images.cpp, listener.cpp, reference.cpp, and trackingtarget.cpp.

◆ ImportJSONModel()

void PSTech::pstsdk::Tracker::ImportJSONModel ( const Utils::PstString json_model)

Import a JSON-formatted string representing a tracking target model into the target model database. The JSON string should be formatted according to the instructions found in Appendix A of the PST Manual. After successfully importing the model it can be tracked by the PST Tracker.

Parameters
[in]json_modelA JSON-formatted string representing the tracking target model.
See also
Tracker::ExportJsonModel()
Exceptions
PSTech::InvalidDataExceptionData provided did not match the requirements.
PSTech::AlreadyExistsExceptionThe request could not be executed because a model with the same name already exists in the database.
PSTech::JSONExceptionThe JSON string could not be parsed correctly.

◆ LoadCalibrationFromLocalPath()

void PSTech::pstsdk::Tracker::LoadCalibrationFromLocalPath ( const Utils::PstString path)

Load the calibration information for each of the cameras in the connected PST Tracker from the specified local path. This function will overwrite any calibration information for the currently connected trackers available in the current configuration folder. Calibration information will only be loaded and placed in the configuration folder when calibration information is found and valid for all connected cameras.

Parameters
[in]pathPath to the local directory where the calibration information for all connected cameras is stored.
See also
Tracker::GetConnectedCameraUrls()
Exceptions
PSTech::NotFoundExceptionNot all the required files could be found in the specified location.
PSTech::InvalidDataExceptionCalibration file contains invalid data.

◆ Pause()

void PSTech::pstsdk::Tracker::Pause ( )

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

See also
Tracker::Start()

◆ RemoveTargetModel()

void PSTech::pstsdk::Tracker::RemoveTargetModel ( const Utils::PstString model_name)

Remove a tracking target model from the target model database.

Parameters
[in]model_nameThe name of the tracking target model to be removed.
See also
Tracker::ImportJsonModel()
Tracker::ExportJsonModel()
Exceptions
PSTech::NotFoundExceptionThe tracking target model to be removed was not found in the target model database.

◆ RemoveTrackerListener()

void PSTech::pstsdk::Tracker::RemoveTrackerListener ( Listener listener)

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

Parameters
[in]listenerA pointer to an implementation of the Listener class which has previously been added using Tracker::AddTrackerListener().
See also
Listener
Tracker::AddTrackerListener()

◆ SetDefaultReference()

void PSTech::pstsdk::Tracker::SetDefaultReference ( )

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::SetReference()
Tracker::GetReference()
Examples
reference.cpp.

◆ SetExposure()

void PSTech::pstsdk::Tracker::SetExposure ( double  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
[in]timeExposure time in seconds.
See also
Tracker::GetExposure()
Tracker::GetExposureRange()
Exceptions
PSTech::OutOfRangeExceptionThe value supplied is not within the allowed range.
PSTech::NotSupportedExceptionExposure could not be set on the Tracker.
Examples
exposure.cpp.

◆ SetFramerate()

void PSTech::pstsdk::Tracker::SetFramerate ( double  fps)

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

Parameters
[in]fpsThe new frame rate to be set.
See also
Tracker::GetFramerate()
Tracker::GetSupportedFramerates()
Exceptions
PSTech::NotSupportedExceptionSupplied frame rate could not be set on the Tracker.
Examples
exposure.cpp, images.cpp, listener.cpp, and reference.cpp.

◆ SetOrientationFilter()

void PSTech::pstsdk::Tracker::SetOrientationFilter ( double  value)

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
[in]valueFiltering strength to be used in range [0, 0.99]
See also
Tracker::EnableFiltering()
Tracker::SetPositionFilter()

◆ SetPositionFilter()

void PSTech::pstsdk::Tracker::SetPositionFilter ( double  value)

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
[in]valueFiltering strength to be used in range [0, 0.99]
See also
Tracker::EnableFiltering()
Tracker::SetOrientationFilter()

◆ SetReference()

void PSTech::pstsdk::Tracker::SetReference ( const Utils::PstArray< float, 16 > &  reference,
bool  relative = false 
)

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 the rotation component of the supplied transformation matrix is orthonormal and if the supplied transformation matrix is homogeneous (i.e. the final row of the matrix is [0 0 0 1]). If either one of these conditions is not true, a PSTech::TrackerException is thrown. 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
[in]referenceThe transformation matrix for the new reference system.
[in]relativeWhen set to true, the current transformation matrix is transformed using the supplied transformation matrix.
See also
Tracker::GetReference()
Tracker::SetDefaultReference()
Exceptions
PSTech::TrackerExceptionThe supplied reference matrix is either non-homogeneous or the rotation component is non-orthonormal.
Examples
reference.cpp.

◆ SetTargetId()

void PSTech::pstsdk::Tracker::SetTargetId ( const Utils::PstString name,
int  id 
)

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

Parameters
[in]nameThe name of the tracking target to change the id of.
[in]idThe new id of the tracking target.
See also
Target
Exceptions
PSTech::NotFoundExceptionTarget name could not be found.

◆ SetTargetStatus()

void PSTech::pstsdk::Tracker::SetTargetStatus ( const Utils::PstString name,
bool  active 
)

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

Parameters
[in]nameThe name of the tracking Target to set the status of.
[in]activeNew status of the tracking Target.
See also
TargetStatus
Tracker::GetTargetStatus()
Tracker::GetTargetList()
Exceptions
PSTech::NotFoundExceptionTarget name could not be found.
Examples
trackingtarget.cpp.

◆ Shutdown()

static void PSTech::pstsdk::Tracker::Shutdown ( )
static

Fully shutdown the tracking system, disconnecting from the PST Tracker and rendering the Tracker object useless. 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::Tracker()
Tracker::DisableSharedMemory()
Tracker::DisableRestServer()
Examples
exposure.cpp, images.cpp, listener.cpp, minimal.cpp, reference.cpp, restserver.cpp, sharedmemory.cpp, and trackingtarget.cpp.

◆ Start()

void PSTech::pstsdk::Tracker::Start ( )

Start the tracking system and produce tracking results.

See also
Tracker::Pause()
Examples
exposure.cpp, images.cpp, listener.cpp, minimal.cpp, reference.cpp, restserver.cpp, sharedmemory.cpp, and trackingtarget.cpp.

◆ Systemcheck()

StatusMessage PSTech::pstsdk::Tracker::Systemcheck ( ) const

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 StatusMessage enumeration member.
See also
StatusMessage
Examples
exposure.cpp, images.cpp, listener.cpp, reference.cpp, and trackingtarget.cpp.

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