trackingtarget.c

This example can be found in examples\c\trackingtarget\trackingtarget.c.

This example shows how to work with tracking targets using the PST SDK. Note that at this moment tracking targets can not be trained or imported using the PST SDK. In order to add new tracking targets, please use the PST Client together with the pst_sdk_enable_shared_memory() fuction, or use the stand-alone PST Server to configure the tracking targets.

When compiling and running this example, please make sure that the required dependencies can be found by the executable (e.g. by copying the Redist directory into the build directory. When the PST SDK has been installed through the PST Software Suite installer the Redist folder can be found in the Development folder.).

 
#ifdef WIN32
#include <windows.h>
#else
#include <unistd.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 <stdlib.h>
#include <signal.h>
 
/* Control variable for main loop */
static sig_atomic_t running = 1;
 
/* Number of data points to grab before application termination */
static const uint32_t numberOfSamplesToGrab = 100;
 
/*
 * 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 = 0;
    }
 
    for (int d = 0; d < tracker_data->number_of_targets; ++d)
    {
        printf("Detected %s \n", tracker_data->targetlist[d].target.name);
    }
}
 
/*
* Implement the exit handler to shut-down the PST Tracker connection on application termination.
*/
static void Exithandler(int sig)
{
    pst_sdk_shutdown();
    running = 0;
}
 
// 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);
    }
}
 
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_data_callback(&ctracker, &OnTrackerData));
 
    printf("Put the Reference card in front of the PST in order to see tracking results.\n\n");
 
    // 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));
 
    // Retrieve the list of registered tracking targets and print their names and current status (active or not).
    PstTargetStatus* statuses;
    size_t number_of_statuses;
    CheckErrorCode(pst_tracker_alloc_and_get_target_list(&ctracker, &statuses, &number_of_statuses));
    printf("Found %zu tracking targets:\n", number_of_statuses);
    for (int i = 0; i < number_of_statuses; ++i)
    {
        printf("%s\t%s\n", statuses[i].target.name, statuses[i].status ? "true" : "false");
    }
    printf("\n");
    pst_free(statuses);
 
    // Enable the Reference target. Note that this will return an error in case the Reference
    // target has not been created. The Reference target can be created using the PST Client.
    CheckErrorCode(pst_tracker_set_target_status(&ctracker, "Reference", true));
 
 
    PstTargetMarkers marker_list;
    //Make sure to initialize the PstImage with ::PstTargetMarkers before using pst_tracker_get_target_markers function.
    pst_target_markers_init(&marker_list);
 
    // Get the 3D marker positions making up the Reference device and display them.
    // Note that this will cause an error in case the Reference target has not been created.
    CheckErrorCode(pst_tracker_get_target_markers(&ctracker, "Reference", &marker_list));
    printf("3D marker positions making up the Reference target:\n");
    for (int i = 0; i < marker_list.number_of_markers; ++i)
    {
        printf("x: %f\ty: %f\tz: %f\n", marker_list.markers[i].coordinates[0], marker_list.markers[i].coordinates[1], marker_list.markers[i].coordinates[2]);
    }
    printf("\n");
 
    //Make sure to destroy PstTargetMarkers after using it.
    pst_target_markers_destroy(&marker_list);
 
    // Main loop, wait for auto-termination.
    while (running == 1)
    {
#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;
}