pstsdk_cpp.h

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// Copyright PS-Tech B.V. All Rights Reserved.
 
#pragma once
 
#include "PstBase.h"
#include "PstString.h"
#include "PstVector.h"
#include "PstArray.h"
#include "PstTypes.h"
 
namespace PSTech
{
namespace pstsdk
{
   
    class PST_EXPORT Listener
    {
    public:
        virtual void OnTrackerData(const TrackerData& data) { }
        
        virtual void OnTrackerMode(const TrackerMode mode) { }

        virtual ~Listener();
    };

    PST_EXPORT void EnableLogging();

    PST_EXPORT const char* GetSdkVersion();

    class PST_EXPORT Tracker
    {
    public:
        explicit 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();

        void LoadCalibrationFromLocalPath(const Utils::PstString& path);

        TrackerData GetSingleMeasurement() const;

        [[deprecated("Use GetConnectedCameraInfo() instead")]]
        Utils::PstVector<Utils::PstString> GetConnectedCameraUrls(bool silent = false) const;

        Utils::PstVector<Utils::PstString> GetUncalibratedCameraUrls(bool silent = false) const;

        Utils::PstString GetVersionInfo() const;

        Utils::PstString GetConfigPath() const;
 

        static void AddTrackerListener(Listener* listener);

        static void RemoveTrackerListener(Listener* listener);

        void Start();

        void Pause();

        static void Shutdown();

        StatusMessage Systemcheck() const;
 

        void SetFramerate(double fps);

        double GetFramerate() const;

        Utils::PstVector<float> GetSupportedFramerates() const;

        void SetExposure(double time);

        double GetExposure() const;

        void GetExposureRange(double& min, double& max) const;

        void EnableFiltering();

        void DisableFiltering();

        void SetPositionFilter(double value);

        void SetOrientationFilter(double value);

        void EnableTremorFilter();

        void DisableTremorFilter();
 

        void EnableImageTransfer();

        void DisableImageTransfer();

        bool GetImage(Image& image) const;
 

        TargetStatuses GetTargetList() const;

        Target GetTargetInfo(const Utils::PstString& name) const;

        void SetTargetStatus(const Utils::PstString& name, bool active);

        bool GetTargetStatus(const Utils::PstString& name) const;

        MarkerList GetTargetMarkers(const Utils::PstString& name) const;

        void SetTargetId(const Utils::PstString& name, int id);

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

        void SetDefaultReference();

        Utils::PstArray<float, 16> GetReference() const;

        CameraInfoList GetConnectedCameraInfo(bool silent = true) const;

        static void EnableSharedMemory();

        static void DisableSharedMemory();

        static void EnableRestServer(const Utils::PstString& server_address, const Utils::PstString& server_port, int eventStream_retry_timeout_ms = 3000);

        static void DisableRestServer();

        void ImportJSONModel(const Utils::PstString& json_model);

        Utils::PstString ExportJSONModel(const Utils::PstString& model_name) const;

        void RemoveTargetModel(const Utils::PstString& model_name);

        void SetMarkerDetectionRegion(TrackingRegion detection_region);

        TrackingRegion GetMarkerDetectionRegion() const;

        bool SupportsDetectionRegionPruning() const;
    };

}
}