Use Hikvision cameras as the base type

Author: KingRichord

example/CustomCam/main.cpp

@@ -0,0 +1,43 @@
+#include "infinite_sense.h"
+using namespace infinite_sense;
+int main() {
+
+  // 1.创建同步器
+  Synchronizer synchronizer;
+  /*
+   使用网口连接
+   synchronizer.SetNetLink("192.168.1.188", 8888);
+  */
+  synchronizer.SetUsbLink("/dev/ttyACM0", 460800);
+
+  /*
+    如使用工业相机, 需要指定 相机名称 和 同步板的触发端口
+    std::map<std::string, TriggerDevice> params;
+    params["camera_1"] = TriggerDevice::CAM_1; //camera_1:表示设备的名称，TriggerDevice::CAM_1:使用同步板CAM_1端口触发
+    synchronizer.UseMvCam(params);
+  */
+
+  // 2.开启同步
+  synchronizer.Start();
+
+  // 3.订阅数据
+  Synchronizer::PrintSummary();
+  zmq::context_t context(1);
+  zmq::socket_t subscriber(context, zmq::socket_type::sub);
+  subscriber.connect("tcp://localhost:5555");
+
+  const std::string topic = "imu_1";   // 订阅特定主题（如,板载IMU数据： "imu_1"）
+  subscriber.setsockopt(ZMQ_SUBSCRIBE, topic.c_str(), topic.size());
+  zmq::message_t msg;
+  while (true) {
+    if (subscriber.recv(msg, zmq::recv_flags::dontwait)) {
+      if (subscriber.get(zmq::sockopt::rcvmore)) {
+        zmq::message_t dummy;
+        subscriber.recv(dummy);
+      }
+    }
+  }
+  // 4.停止同步
+  synchronizer.Stop();
+  return 0;
+}

infinite_sense_core/include/infinite_sense.h

@@ -8,7 +8,7 @@ namespace infinite_sense {
 
 class NetManager;
 class UsbManager;
-class CamManger;
+class Cam;
 class TriggerManger;
 class Messenger;
 /**