Program Listing for File feature_tracker.hpp

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#pragma once

#include "depthai_ros_driver/dai_nodes/base_node.hpp"
#include "depthai_ros_msgs/msg/tracked_features.hpp"
#include "rclcpp/publisher.hpp"

namespace dai {
class Pipeline;
class Device;
class DataOutputQueue;
class ADatatype;
namespace node {
class FeatureTracker;
class XLinkOut;
}  // namespace node
namespace ros {
class TrackedFeaturesConverter;
}
}  // namespace dai

namespace rclcpp {
class Node;
class Parameter;
}  // namespace rclcpp

namespace depthai_ros_driver {
namespace param_handlers {
class FeatureTrackerParamHandler;
}
namespace dai_nodes {

class FeatureTracker : public BaseNode {
   public:
    explicit FeatureTracker(const std::string& daiNodeName, rclcpp::Node* node, std::shared_ptr<dai::Pipeline> pipeline);
    ~FeatureTracker();
    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;
    void getParentName(const std::string& fullName);

   private:
    std::unique_ptr<dai::ros::TrackedFeaturesConverter> featureConverter;
    void featureQCB(const std::string& name, const std::shared_ptr<dai::ADatatype>& data);
    rclcpp::Publisher<depthai_ros_msgs::msg::TrackedFeatures>::SharedPtr featurePub;
    std::shared_ptr<dai::node::FeatureTracker> featureNode;
    std::unique_ptr<param_handlers::FeatureTrackerParamHandler> ph;
    std::shared_ptr<dai::DataOutputQueue> featureQ;
    std::shared_ptr<dai::node::XLinkOut> xoutFeature;
    std::string featureQName;
    std::string parentName;
};

}  // namespace dai_nodes
}  // namespace depthai_ros_driver