This is a wrapper around Structure IO camera and Basler cameras. All frame acquisition happens in a new thread spawned so that all frames are acquired real-time. Just after the initialization frame grabbing starts. So to find the working of the camera, for any USB or miscellaneous errors the code would give an error at initialization phase itself. The reason to make this repo is that the frame acquisition wasn't happening in a different thread or it wasn't easy to integrate into complex C++ codes. Here I have tried to create to create something Intel realSense does efficiently. Hence.
The API is as follows:

#include <get_depth_frame_Structure.h>
#include <pylon_camera_utils.h>

structure_io_depthframe dpt_frame;
depth_frame_latest = dpt_frame.get_depth_frame();
# Save reference Frame
dpt_frame.save_reference_frame()
// Do ICP from the reference frame as reference
dpt_frame.icp_detect_movement()

pylon_camera_utils cmos_camera;
while (true) {
    if (!cmos_camera.nm685_current_frame.empty() && !cmos_camera.nm830_current_frame.empty()) {
        // Do some Image processing stuff with the camera frame
        cmos_camera.get_center_of_blob(cmos_camera.nm830_current_frame);
        break;
    }
}