#include <iostream>
#include <fstream>
#include <string>
#include <vector>
#include <cvb/device_factory.hpp>
#include <cvb/driver/driver.hpp>
#include <cvb/image.hpp>
#include <cvb/utilities/utilities.hpp>
#include <cvb/composite.hpp>
#include <cvb/driver/multi_part_image.hpp>
#include <cvb/plane_enumerator.hpp>
#include <cvb/point_cloud.hpp>
int main()
{
try
{
const constexpr auto numElemsToAcquire = 10;
if (infoList.empty())
{
std::cout << "Discovered" << std::endl;
throw std::runtime_error("There is no available device for this demonstration.");
}
const auto numStreams = device->StreamCount();
for (auto i = 0; i < numElemsToAcquire; i++)
{
if (waitStatus != Cvb::WaitStatus::Ok)
{
std::cout << "wait status not ok: " << static_cast<int>(waitStatus) << std::endl;
break;
}
if (composite->Purpose() == Cvb::CompositePurpose::PointCloud)
{
const auto numberOfElements = composite->ItemCount();
std::cout << "Found " << numberOfElements << " point cloud parts" << std::endl;
if (!xyz)
{
std::cout << "Composite xyz is not a plane enumerator" << std::endl;
break;
}
{
std::cout << "Composite confidence is not a plane" << std::endl;
break;
}
{
std::cout << "Composite image is not an image" << std::endl;
break;
}
composite->InsertItemAt(composite->ItemCount(), rPlane);
composite->InsertItemAt(composite->ItemCount(), gPlane);
composite->InsertItemAt(composite->ItemCount(), bPlane);
pointCloud->Save("xyzrgb.pcd");
}
else
{
std::cout << "The composite contains something unexpected" << std::endl;
break;
}
}
stream->Stop();
}
catch (const std::exception& e)
{
std::cout << e.what() << std::endl;
}
return 0;
}
static CompositePtr FromObject(std::shared_ptr< T > object)
static std::vector< DiscoveryInformation > Discover()
static std::shared_ptr< T > Open(const String &provider, AcquisitionStack acquisitionStack=AcquisitionStack::PreferVin)
static PlanePtr FromImagePlane(const ImagePlane &imagePlane, PlaneRole role=PlaneRole::Undefined)
const variant_alternative_t< I, variant< TS... > > & get(const variant< TS... > &var)
bool holds_alternative(const variant< TS... > &var) noexcept