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camtrk-cli/trkcli.h
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trkcli.h
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#ifndef __TRKCLI_H
#define __TRKCLI_H
/**
* \file trkcli.h
* \author Alessandro Crespi
* \date April 2009, updated June 2020
* \brief Client class to retrieve data from the BIOROB LED tracking system
*/
#include <stdint.h>
/// Entry containing the position of a detected point
struct track_point {
int id; ///< identifier of the point (not persistent across frames), starts from 100 for 2nd camera
float x; ///< X coordinate (in meters)
float y; ///< Y coordinate (in meters)
} __attribute__((__packed__));
const int MAX_POINTS = 40;
class CTrackingClient {
public:
CTrackingClient();
~CTrackingClient();
/// Connects to the specified tracking server
bool connect(const char* hostname, uint16_t port = 10502);
/// Starts a server-side log of all the tracking points
bool start_tracking_file(const char* filename);
/// Stops a previously started tracking log
bool stop_tracking_file(void);
/// \brief Retrieves the points detected in the current frame
/// \param time The timestamp of the returned frame, in an undefined unit (DO NOT USE FOR TIMING)
/// \return true if the operation succeeded, false in case of an error (e.g. lost connection)
bool update(uint32_t& time);
/// \brief Gets the identifier of the first detected point (useful when tracking a single point)
/// \return The identifier of the point, or -1 if none are available
int get_first_id();
/// Extracts the coordinates of the given point (useful when tracking a single point)
bool get_pos(const int id, double& x, double& y);
/// \brief Gets a pointer to the table of all detected points in the last retrieved frame
/// \param count Reference to an integer variable where the number of detected points will be written
const track_point* get_pos_table(int& count) const;
private:
int sock;
bool connected;
track_point positions[MAX_POINTS];
int pos_count;
};
#endif
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