#include <sl/Camera.hpp>
int main() {
    // Initialize and open the camera
    sl::Camera zed;
    zed.open();

    // Create a matrix to store the image
    sl::Mat image;
    int i = 0;
    
    while(i++ < 1000){
        // Grab a frame and retrieve the left image
        zed.grab();
        zed.retrieveImage(image, sl::VIEW::LEFT);
    }
    return 0;
}

import pyzed.sl as sl
# Initialize and open the camera
zed = sl.Camera()
zed.open()

# Create a matrix to store the image
image = sl.Mat()
i = 0

while i < 1000 :
    i=i+1
    # Grab a frame and retrieve the left image
    zed.grab()
    zed.retrieve_image(image, sl.VIEW.LEFT)

#include <sl/Camera.hpp>
int main() { 
    // Initialize and open the camera
    sl::Camera zed;
    zed.open();

    // Create matrices to store the depth and point cloud
    sl::Mat depth, point_cloud;

    while(true){
        // Grab a frame and retrieve depth and point cloud
        zed.grab();
        zed.retrieveMeasure(depth, sl::MEASURE::DEPTH);
        zed.retrieveMeasure(point_cloud, sl::MEASURE::XYZRGBA); 
    }
    return 0;
}

import pyzed.sl as sl
# Initialize and open the camera
zed = sl.Camera()
zed.open()

# Create matrices to store the depth and point cloud
depth = sl.Mat()
point_cloud = sl.Mat()

while True :
    # Grab a frame and retrieve depth and point cloud
    zed.grab()
    zed.retrieve_measure(depth, sl.MEASURE.DEPTH)
    zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA)

#include <sl/Camera.hpp>
int main() {
    // Initialize and open the camera
    sl::Camera zed;
    zed.open();

    // Enable Positional Tracking and create a pose variable
    zed.enablePositionalTracking();
    sl::Pose zed_pose;

    while(true){
        // Grab a frame and get the current camera position
        zed.grab();
        zed.getPosition(zed_pose, sl::REFERENCE_FRAME::WORLD);
    }
    return 0;
}

import pyzed.sl as sl
# Initialize and open the camera
zed = sl.Camera()
zed.open()

# Enable Positional Tracking and create a pose variable
zed.enable_positional_tracking()
zed_pose = sl.Pose()

while True :
    # Grab a frame and get the current camera position
    zed.grab()
    zed.get_position(zed_pose, sl.REFERENCE_FRAME.WORLD)

#include <sl/Camera.hpp>
int main() {
    // Initialize and open the camera
    sl::Camera zed;
    zed.open();
    
    // Enable Object Detection and create a variable for storage
    zed.enableObjectDetection();
    sl::Objects objects;

    while (true){
        // Retrieve detected objects in the frame and print their 3D bounding box coordinates
        zed.grab();
        zed.retrieveObjects(objects);
        for(auto object : objects.object_list){
            for(auto corner : object.bounding_box){
                std::cout << corner << std::endl;    
    }
    return 0;
}

import pyzed.sl as sl
# Initialize and open the camera
zed = sl.Camera()
zed.open()

# Enable Object Detection and create a variable for storage
zed.enable_object_detection()
objects = sl.Objects()

while True :
    # Grab a frame, retrieve the detected objects and print their 3D location
    zed.grab()
    zed.retrieve_objects(objects)
    for object in objects.object_list:
        print(object.position)

#include <sl/Camera.hpp>
int main() {
    // Initialize and open the camera
    sl::Camera zed;
    zed.open();

    // Enable Spatial Mapping
    zed.enableSpatialMapping();
    int i = 0;

    // Map the scene for 1000 frames
    while (i++ < 1000) zed.grab();

    // Extract and save the map as a mesh
    sl::Mesh mesh;
    zed.extractWholeSpatialMap(mesh);
    mesh.save("mesh.obj");
    return 0;
}

import pyzed.sl as sl
# Initialize and open the camera
zed = sl.Camera()
zed.open()

# Enable Spatial Mapping
zed.enable_spatial_mapping()
i = 0

# Map the scene for 1000 frames
while i < 1000:
    i=i+1
    zed.grab()

# Extract and save the map as a mesh
mesh = sl.Mesh()
zed.extract_whole_spatial_map(mesh)
mesh.save("mesh.obj")