Program Listing for File spatial_nn_wrapper.hpp
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#pragma once
#include <memory>
#include <string>
#include <vector>
#include "depthai-shared/common/CameraBoardSocket.hpp"
#include "depthai_ros_driver/dai_nodes/base_node.hpp"
namespace dai {
class Pipeline;
class Device;
class DataOutputQueue;
class ADatatype;
} // namespace dai
namespace rclcpp {
class Node;
class Parameter;
} // namespace rclcpp
namespace depthai_ros_driver {
namespace param_handlers {
class NNParamHandler;
}
namespace dai_nodes {
class SpatialNNWrapper : public BaseNode {
public:
explicit SpatialNNWrapper(const std::string& daiNodeName,
rclcpp::Node* node,
std::shared_ptr<dai::Pipeline> pipeline,
const dai::CameraBoardSocket& socket = dai::CameraBoardSocket::CAM_A);
~SpatialNNWrapper();
void updateParams(const std::vector<rclcpp::Parameter>& params) override;
void setupQueues(std::shared_ptr<dai::Device> device) override;
void link(dai::Node::Input in, int linkType = 0) override;
dai::Node::Input getInput(int linkType = 0) override;
void setNames() override;
void setXinXout(std::shared_ptr<dai::Pipeline> pipeline) override;
void closeQueues() override;
private:
std::unique_ptr<param_handlers::NNParamHandler> ph;
std::unique_ptr<BaseNode> nnNode;
};
} // namespace dai_nodes
} // namespace depthai_ros_driver