SDK Examples

Example Demos

This directory contains example code for using SimpleSensorSync, with a total of 5 demos:

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1. CustomCam - Custom Camera

Path: CustomCam/

Demonstrates how to implement a custom sensor by inheriting the Sensor class.

Core Files:

• cus_cam.h/cus_cam.cpp - Custom camera class, inheriting from Sensor
• main.cpp - Demonstrates how to configure the synchronizer and receive data

Usage:

// 1. Create synchronizer
Synchronizer synchronizer;
synchronizer.SetNetLink("192.168.1.188", 8888);

// 2. Configure custom sensor
auto mv_cam = std::make_shared<CustomCam>();
mv_cam->SetParams({{"cam_1", CAM_1}, {"cam_2", CAM_2}});
synchronizer.UseSensor(mv_cam);

// 3. Start synchronization
synchronizer.Start();

// 4. Subscribe to data
Messenger::GetInstance().SubStruct("imu_1", ImuCallback);
Messenger::GetInstance().SubStruct("cam_1", ImageCallback);

// 5. Stop
synchronizer.Stop();

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2. VideoCam - Video Camera

Path: VideoCam/

Uses OpenCV to read USB video devices, supporting simultaneous multi-camera acquisition.

Core Files:

• video_cam.h/video_cam.cpp - Inherits Sensor, uses cv::VideoCapture to read cameras
• main.cpp - Basic example
• main_ros.cpp - ROS version
• main_ros2.cpp - ROS2 version

Features:

• Each camera has its own independent reading thread
• Thread-safe data access

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3. VideoCam_LVI - LVI Video Camera

Path: VideoCam_LVI/

LVI device-specific version of VideoCam, with the same interface as VideoCam.

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4. NetCam - Ethernet Industrial Camera

Path: NetCam/

Supports Ethernet industrial cameras (e.g., Hikvision, etc.), including ROS and ROS2 examples.

Core Files:

• mv_cam.h/mv_cam.cpp - Ethernet camera implementation
• main.cpp - Basic example
• main_ros.cpp - ROS version
• main_ros2.cpp - ROS2 version

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5. NetCam_LVI - LVI Ethernet Camera

Path: NetCam_LVI/

LVI device-specific version of NetCam.

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Build Instructions

cd example
mkdir build && cd build
cmake ..
make

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Data Callback Example

void ImuCallback(const void* msg, size_t) {
    const auto* imu_data = static_cast<const ImuData*>(msg);
    // Process IMU data
}

void ImageCallback(const void* msg, size_t) {
    const auto* cam_data = static_cast<const CamData*>(msg);
    // Process image data
}

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Standard Way to Inherit the Sensor Class

class MyCam final : public Sensor {
 public:
  ~MyCam() override;

  bool Initialization() override;  // Initialize camera
  void Stop() override;            // Stop acquisition
  void Start() override;           // Start acquisition

 private:
  void Receive(void* handle, const std::string&) override;  // Data reception
};

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