Basic ifm3d usage

gistfile1.txt

#include <iostream>
#include <memory>
#include <opencv2/core/core.hpp>
#include <ifm3d/camera.h>
#include <ifm3d/fg.h>
#include <ifm3d/image.h>

int main(int argc, const char **argv)
{
  auto cam = ifm3d::Camera::MakeShared();
  auto fg = std::make_shared<ifm3d::FrameGrabber>(cam);
  auto im = std::make_shared<ifm3d::ImageBuffer>();
  
  cv::Mat amp;
  cv::Mat xyz;
  
  while (true)
  {
    if (! fg->WaitForFrame(im.get(), 1000))
    {
      std::cerr << "Timeout waiting for camera!" << std::endl;
      return -1;
    }
  
    amp = im->AmplitudeImage();
    xyz = im->XYZImage();
    
    // now do something with `amp` and `xyz`
  }
  
  return 0;
}