trackingtarget/trackingtarget.cs

// Copyright PS-Tech B.V. All Rights Reserved.
 
using System;
using System.Runtime.InteropServices;
using System.Threading;
using PSTech.Pstsdk;
 
namespace PsTech.TrackingTarget
{
    public class TrackingTarget
    {
        //Registering control handler function.
        [DllImport("Kernel32")]
        private static extern bool SetConsoleCtrlHandler(ConsoleEventHandler handler, bool add);
 
        private delegate bool ConsoleEventHandler(CtrlType sig);
        static ConsoleEventHandler ConsoleCtrlEventHandler;
 
        public enum CtrlType
        {
            CtrlCEvent = 0,
            CtrlBreakEvent = 1,
            CtrlCloseEvent = 2,
            CtrlLogOffEvent = 5,
            CtrlShutdownEvent = 6,
        }

        private static bool ConsoleHandler(CtrlType sig)
        {
            Exithandler((int)sig);
            return true;
        }
 
        // Control variable for main loop.
        static bool Running = true;
 
        // Number of data points to grab before application termination.
        static int NumberOfSamplesToGrab = 100;
        static int SamplesGrabbed = 0;

        class MyTrackerListener : TrackerListener
        {
            public override void OnTrackerData(TrackerData data, ErrorStatus status)
            {
                if (SamplesGrabbed++ >= NumberOfSamplesToGrab)
                {
                    Running = false;
                }
                foreach (TargetPose pose in data.TargetPoseList)
                {
                    Console.Write("Detected " + pose.Target.Name + "\n");
                }
 
                // Do something with the received data.
            }
        }

        static void Exithandler(int sig)
        {
            Tracker.Shutdown(); // Cleans up native resources only; does NOT remove listeners
            Running = false;
        }
 
        static int Main(string[] args)
        {
            // Register the exit handler with the application
            ConsoleCtrlEventHandler += new ConsoleEventHandler(ConsoleHandler);
            SetConsoleCtrlHandler(ConsoleCtrlEventHandler, true);
 
            // Implement error handling of PSTech.TrackerException exceptions to prevent
            // improper PST Tracker shutdown on errors.
            try
            {
                // Create an instance of the Tracker object using the default configuration path and file names.
                // Wrap the Tracker in a using statement to ensure Dispose() is called automatically
                using (Tracker tracker = new Tracker())
                {
                    // Print version number of the tracker server being used.
                    Console.Write("Running PST Server version " + tracker.GetVersionInfo() + "\n");
 
                    //Create tracker listener with callback functions for data and/or mode updates.
                    TrackerListener listener = new MyTrackerListener();
 
                    // Register the TrackerListener object to the tracker server.
                    tracker.AddTrackerListener(listener);
 
                    Console.Write("Put the Reference card in front of the PST in order to see tracking results.\n\n");
 
                    // Start the tracker server.
                    tracker.StartTracker();
 
                    // Perform a system check to see if the tracker server is running OK and print the result.
                    Console.Write("System check: " + tracker.Systemcheck() + "\n\n");
 
                    // Retrieve the list of registered tracking targets and print their names and current status (active or not).
                    TargetStatus[] targets = tracker.GetTargetList();
                    Console.Write("Found " + targets.Length + " tracking targets:\n");
                    foreach (TargetStatus t in targets)
                    {
                        Console.Write(t.Target.Name + "\t" + t.Status + "\n");
                    }
                    Console.Write("\n");
 
                    // Enable the Reference target. Note that this will cause a PSTech.TrackerException in case the Reference
                    // target has not been created. The Reference target can be created using the PST Client.
                    tracker.SetTargetStatus("Reference", true);
 
                    // Get the 3D marker positions making up the Reference device and display them.
                    // Note that this will cause a PSTech.TrackerException in case the Reference target has not been created.
                    TargetMarker[] markers = tracker.GetTargetMarkers("Reference");
                    Console.Write("3D marker positions making up the Reference target:\n");
                    foreach (TargetMarker marker in markers)
                    {
                        Console.Write("x: " + marker.Coordinates[0] + "\t" + "y: " + marker.Coordinates[1] + "\t" + "z: " + marker.Coordinates[2] + "\n");
                    }
                    Console.Write("\n");
 
                    // Main loop, wait for auto-termination.
                    while (Running)
                    {
                        Thread.Sleep(100);
                    }
                }
            }
            catch (Exception e)
            {
                // Catch PSTech.TrackerException exceptions and print error messages.
                Console.Write(e + "\n");
            }
 
            // Pause command line to see results.
            Console.Write("Press enter to continue...\n");
            Console.Read();
 
            return 0;
        }
    }
}