查看“3D相机适配”的源代码

引用Camera3D.dll，在工程中写一个类：MainIOObject : Camera3DIOObject，参考以下流程进行适配。

== 1.3D相机适配参数含义 ==

# 点云数据结构

 '''public''' '''struct''' '''CameraPoint3D'''
 {
     '''public''' '''float''' X;//点云x
     '''public''' '''float''' Y;//点云y
     '''public''' '''float''' Z;//点云z
     '''public''' '''byte''' intensity; // 强度，0-255
     '''public''' '''byte''' r, g, b; // rgb色彩，0-255
     '''public''' '''float''' depth;//深度
 }

# 色彩模式

 public enum Camera3dCloudColorMode
 {
     Rgb = 0,
     Depth = 1,
     Intensity = 2,
     Solid = 3,
 }

== 2.适配流程 ==
 //命名空间为3D相机名称
 '''namespace''' '''XXX'''
 {
     //继承3D相机父类
 	'''public''' '''class''' '''MainIOObject''' : Camera3DIOObject
     {
         //启动方法，若有参数则加入参数
         '''public''' '''void''' '''Start'''()
         {
             Console.'''WriteLine'''("Starting XXX");
             //点云显示模式
 			CloudColorMode = Camera3dCloudColorMode.Intensity;
 			'''new''' '''Thread'''(() =>
 			{
     			'''while''' ('''true''')
     			{
         			'''try'''
         			{
            			 '''Loop'''();
         			}
         			'''catch''' (Exception ex)
         			{
             			Console.'''WriteLine'''($"msg:{ex.Message}, stack:{ex.StackTrace}");
             			Thread.'''Sleep'''('''1000''');
         			}
     			}
 			}).'''Start'''();
         }
         '''private''' '''void''' '''Loop'''()
         {
         	//解析相机数据，赋值给cachedPoints
             //.....解析部分.....
             
             //帧号+1，output数据
             frame += '''1''';
 			scanC += '''1''';
 			'''Output'''();
         }
     }
 }

== 启动相机 ==
在Medulla目录下startup.iocmd中增加以下代码
 //io load xxx.dll时，会寻找dll里面class MainIOObject并实例化相应的对象赋值给等号左侧的3dcam
 '''3d'''cam = io load plugins/xxx.dll
 ////Start对应Start函数，传的参数放在后面，空格隔开
 '''3d'''cam Start