FeatureTracker.cpp

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#include "depthai/pipeline/node/FeatureTracker.hpp"
 
#include "spdlog/fmt/fmt.h"
 
namespace dai {
namespace node {
 
FeatureTracker::FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId)
    : FeatureTracker(par, nodeId, std::make_unique<FeatureTracker::Properties>()) {}
FeatureTracker::FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
    : NodeCRTP<Node, FeatureTracker, FeatureTrackerProperties>(par, nodeId, std::move(props)),
      rawConfig(std::make_shared<RawFeatureTrackerConfig>()),
      initialConfig(rawConfig) {
    setInputRefs({&inputConfig, &inputImage});
    setOutputRefs({&outputFeatures, &passthroughInputImage});
}
 
FeatureTracker::Properties& FeatureTracker::getProperties() {
    properties.initialConfig = *rawConfig;
    return properties;
}
 
// Node properties configuration
void FeatureTracker::setWaitForConfigInput(bool wait) {
    inputConfig.setWaitForMessage(wait);
}
 
bool FeatureTracker::getWaitForConfigInput() const {
    return inputConfig.getWaitForMessage();
}
 
void FeatureTracker::setHardwareResources(int numShaves, int numMemorySlices) {
    properties.numShaves = numShaves;
    properties.numMemorySlices = numMemorySlices;
}
 
}  // namespace node
}  // namespace dai