int main(int arg, char** args) {
int count = psmove_count_connected();
int i;
void *frame;
if (count == 0) {
printf("No controllers connected.\n");
return 1;
}
PSMove **moves = (PSMove **)calloc(count, sizeof(PSMove *));
PSMoveTracker* tracker = psmove_tracker_new();
for (i=0; i<count; i++) {
moves[i] = psmove_connect_by_id(i);
assert(moves[i] != NULL);
while (psmove_tracker_enable(tracker, moves[i])
!= Tracker_CALIBRATED);
}
unsigned char r, g, b;
psmove_tracker_get_camera_color(tracker, moves[0], &r, &g, &b);
printf("Controller color: %02x%02x%02x\n", r, g, b);
CvVideoWriter *writer = cvCreateVideoWriter("out.avi",
CV_FOURCC('M','J','P','G'), 30, cvSize(640, 480), 1);
while ((cvWaitKey(1) & 0xFF) != 27) {
psmove_tracker_update_image(tracker);
psmove_tracker_update(tracker, NULL);
frame = psmove_tracker_get_frame(tracker);
if (frame) {
cvWriteFrame(writer, frame);
}
psmove_tracker_annotate(tracker);
frame = psmove_tracker_get_frame(tracker);
if (frame) {
cvShowImage("live camera feed", frame);
}
}
cvReleaseVideoWriter(&writer);
for (i=0; i<count; i++) {
psmove_disconnect(moves[i]);
}
psmove_tracker_free(tracker);
free(moves);
return 0;
}
void MoveHandler::updateTracker()
{
float xPos = 0.0f;
float yPos = 0.0f;
float ledRadius = 0.0f;
psmove_tracker_update_image(this->tracker);
psmove_tracker_update(this->tracker, NULL);
#if DEBUG
psmove_tracker_annotate(this->tracker);
frame = psmove_tracker_get_frame(this->tracker);
if (frame)
{
cvShowImage("Live camera feed", frame);
}
#endif
psmove_tracker_get_position(this->tracker, this->USBController, &xPos, &yPos, &ledRadius);
this->x = xPos;
this->y = yPos;
this->radius = ledRadius;
}