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This example is pretty much the same as in Single Stream, only the stream type is a point cloud stream in this case.
3rd generation stack |
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auto devices = DeviceFactory::Discover(DiscoverFlags::IgnoreVins); auto device = DeviceFactory::Open<GenICamDevice>(devices[0].AccessToken(), AcquisitionStack::GenTL);); auto stream = device->Stream<PointCloudStream>(); stream->Start(); for (int i = 0; i < 10; ++i) { auto [cloud, status, nodeMaps] = stream->Wait(); } stream->Abort(); |
(4) From the device a data stream is instantiated. In our assumed scenario, only one data stream is involved, so by default, the stream at index zero is returned. The stream type is defined by the template specialization of the stream query function. With the 3rd generation GenTL acquisition stack it is possible to get different stream types, which are described in Stream Types.