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,  
    PST_ERROR_STATUS_INVALID_DATA_ERROR                 = 10, 
    PST_ERROR_STATUS_ALREADY_EXISTS_ERROR               = 11, 
    PST_ERROR_STATUS_JSON_PARSING_ERROR                 = 12, 
    
} 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 enum EPstTrackerMode
{
    PST_MODE_LOWPOWER                     = 0,   
    PST_MODE_SETUP                        = 1,   
    PST_MODE_TRACKING                     = 2,   
    PST_MODE_TRAINING                     = 3,   
    PST_MODE_DISCONNECT                   = 4,   
    PST_MODE_RECONNECT                    = 5,   
    PST_MODE_ERROR                        = 6,   
    PST_MODE_UNKNOWN                      = 7,   
} EPstTrackerMode;

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 enum EPstTrackingRegion
{
    OPTIMAL = 0,        
    FULL    = 1,        
} EPstTrackingRegion;

typedef struct PstPoint
{
    int                 id;                  
    float               position[3];         
    EPstTrackingRegion  detection_region;    
} PstPoint;

typedef struct PstTargetPose
{
    PstTarget target;                   
    float pose_matrix[16];              
    size_t number_of_matched_points;    
    PstPoint* matched_points;           
    float  matching_error;              
} PstTargetPose;

typedef struct PstTargetMarker
{
    float coordinates[3];   
} PstTargetMarker;

typedef struct PstTargetMarkers
{
    PstTargetMarker* markers;   
    size_t number_of_markers;   
} PstTargetMarkers;

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 PstCameraURLs
{
    char** url_data;        
    size_t number_of_urls;  
} PstCameraURLs;

typedef struct PstCameraInfo
{
    char camera_id[32];          
    char local_sha1[64];         
    char server_sha1_url[128];   
    char calibration_url[128];   
} PstCameraInfo;

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_load_calibration_from_local_path(PstTracker* ctracker, const char path[]);

PST_C_EXPORT EPstErrorStatus pst_tracker_get_connected_camera_urls(const PstTracker* ctracker, bool silent, PstCameraURLs* urls);

PST_C_EXPORT EPstErrorStatus pst_tracker_get_uncalibrated_camera_urls(const PstTracker* ctracker, bool silent, PstCameraURLs* 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_get_single_measurement(const PstTracker* ctracker, PstTrackerData* cdata);

PST_C_EXPORT EPstErrorStatus pst_tracker_add_tracker_data_callback(PstTracker* ctracker, void (*on_tracker_data)(const PstTrackerData* , EPstErrorStatus));

PST_C_EXPORT EPstErrorStatus pst_tracker_add_tracker_mode_callback(PstTracker* ctracker, void (*on_tracker_mode)(EPstTrackerMode));

PST_C_EXPORT EPstErrorStatus pst_tracker_add_tracker_callbacks(PstTracker* ctracker, void (*on_tracker_data)(const PstTrackerData* , EPstErrorStatus), void (*on_tracker_mode)(EPstTrackerMode));

PST_C_EXPORT EPstErrorStatus pst_tracker_remove_tracker_data_callback(PstTracker* ctracker, void (*on_tracker_data)(const PstTrackerData* , EPstErrorStatus));

PST_C_EXPORT EPstErrorStatus pst_tracker_remove_tracker_mode_callback(PstTracker* ctracker, void (*on_tracker_mode)(EPstTrackerMode));

PST_C_EXPORT EPstErrorStatus pst_tracker_remove_tracker_callbacks(PstTracker* ctracker, void (*on_tracker_data)(const PstTrackerData* , EPstErrorStatus), void (*on_tracker_mode)(EPstTrackerMode));

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_tracker_alloc_and_get_connected_camera_info( const PstTracker* ctracker, bool silent, PstCameraInfo** c_camera_info, size_t* number_of_cameras);

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 EPstErrorStatus pst_tracker_remove_target_model(PstTracker* ctracker, const char* model_name);

PST_C_EXPORT void pst_camera_urls_init(PstCameraURLs* urls);

PST_C_EXPORT void pst_camera_urls_destroy(PstCameraURLs* urls);

PST_C_EXPORT void pst_trackerdata_init(PstTrackerData* cdata);

PST_C_EXPORT void pst_trackerdata_destroy(PstTrackerData* cdata);

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);

PST_C_EXPORT EPstErrorStatus pst_tracker_import_json_model(PstTracker* ctracker, const char* json_model);

PST_C_EXPORT EPstErrorStatus pst_tracker_export_json_model(const PstTracker* ctracker, const char* model_name, char** model_string);

PST_C_EXPORT EPstErrorStatus pst_tracker_set_marker_detection_region(PstTracker* ctracker, EPstTrackingRegion detection_region);

PST_C_EXPORT EPstErrorStatus pst_tracker_get_marker_detection_region(const PstTracker* ctracker, EPstTrackingRegion* detection_region);

PST_C_EXPORT EPstErrorStatus pst_tracker_supports_detection_region_pruning(const PstTracker* ctracker, bool* supported);

#ifdef __cplusplus
}
#endif