AprilTag.hpp

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#pragma once
 
#include <depthai/pipeline/Node.hpp>
 
// shared
#include <depthai-shared/properties/AprilTagProperties.hpp>
 
#include "depthai/pipeline/datatype/AprilTagConfig.hpp"
 
namespace dai {
namespace node {
 
class AprilTag : public NodeCRTP<Node, AprilTag, AprilTagProperties> {
   public:
    constexpr static const char* NAME = "AprilTag";
 
   protected:
    Properties& getProperties();
 
   private:
    std::shared_ptr<RawAprilTagConfig> rawConfig;
 
   public:
    AprilTag(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    AprilTag(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    AprilTagConfig initialConfig;
 
    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::AprilTagConfig, false}}};
    Input inputImage{*this, "inputImage", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ImgFrame, false}}};
 
    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::AprilTags, false}}};
 
    Output outConfig{*this, "outConfig", Output::Type::MSender, {{DatatypeEnum::AprilTagConfig, false}}};
 
    Output passthroughInputImage{*this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    // Functions to set properties
    void setWaitForConfigInput(bool wait);
};
 
}  // namespace node
}  // namespace dai