using.md

Using libo3d3xx

A useful exercise for learning how to use the library would be to look at the code for the command-line utilities provided with libo3d3xx. In particular, the o3d3xx-viewer application would be instructive. That said, using the library basically boils down to:

#include "o3d3xx.h"

// instantiate the camera with default ip, xmlrpc port, and password
o3d3xx::Camera::Ptr cam = std::make_shared<o3d3xx::Camera>();

// associate the camera with a frame grabber
o3d3xx::FrameGrabber::Ptr fg = std::make_shared<o3d3xx::FrameGrabber>(cam);

// create an buffer for holding the image data from the camera
o3d3xx::ImageBuffer::Ptr buff = std::make_shared<o3d3xx::ImageBuffer>();

// now stream the data
while (true)
{
  // block for .5 sec waiting for data from the camera
  if (! fg->WaitForFrame(buff.get(), 500))
    {
      continue;
    }

  // Now access to the current frame is available as:
  //
  // 1. A PCL point cloud
  // buff->Cloud()
  //
  // 2. OpenCV images
  // buff->DepthImage()
  // buff->ConfidenceImage()
  // buff->AmplitudeImage()
  //
  // Use these open-source libraries to build your application
  //
}

Other useful examples exist in the unit tests.