CaptureInContinueMode

单目模式连续采集 10 次，保存点云与 2D 图。

#include <RVC/RVC.h>
#include <iostream>
#include "IO/FileIO.h"
#include "IO/SavePointMap.h"

using namespace RVC;

int main(int argc, char *argv[]) {
    // Initialize RVC X system.
    RVC::SystemInit();

    // Scan all RVC X Camera devices.
    RVC::Device devices[10];
    size_t actual_size = 0;
    SystemListDevices(devices, 10, &actual_size, RVC::SystemListDeviceType::All);

    // Find whether any RVC X Camera is connected or not.
    if (actual_size == 0) {
        std::cout << "Can not find any RVC X Camera!" << std::endl;
        return -1;
    }

    // Create a RVC X Camera and choose use left side camera.
    RVC::X1 x1 = RVC::X1::Create(devices[0], RVC::CameraID_Left);

    // Open RVC X Camera.
    x1.Open();

    // Test RVC X Camera is opened or not.
    if (!x1.IsOpen()) {
        std::cout << "RVC X Camera is not opened!" << std::endl;
        RVC::X1::Destroy(x1);
        RVC::SystemShutdown();
        return 1;
    }

    const std::string save_directory = "./Data/";
    MakeDirectories(save_directory);

    const unsigned int n_capture_frame = 1;
    for (int i = 0; i < n_capture_frame; i++) {
        std::cout << "\ncapture frame number: " << i << std::endl;

        // Capture a point map and a image with default setting.
        if (x1.Capture() == true) {
            std::cout << "RVC X Camera capture successed!" << std::endl;

            // Get point map data (m).
            RVC::PointMap pm = x1.GetPointMap();
            pm.Save((save_directory + "test.ply").c_str(), RVC::PointMapUnit::Meter, true);
            //std::string pm_addr = save_directory + "test.ply";
            std::cout << "save point map to file: " << save_directory + "test.ply" << std::endl;
            //SavePlyFile(pm_addr.c_str(), pm);

            // Get image data.
            RVC::Image img = x1.GetImage();
            std::string img_addr = save_directory + "test.png";
            std::cout << "save image to file: " << img_addr << std::endl;
            img.SaveImage(img_addr.c_str());
        } else {
            std::cout << RVC::GetLastErrorMessage() << std::endl;
            std::cout << "RVC X Camera capture failed!" << std::endl;
            break;
        }
    }

    // Close RVC X Camera.
    x1.Close();

    // Destroy RVC X Camera.
    RVC::X1::Destroy(x1);

    // Shutdown RVC X System.
    RVC::SystemShutdown();

    return 0;
}