FeatureTracker.hpp

Go to the documentation of this file.

#pragma once
 
#include <depthai/pipeline/Node.hpp>
 
// standard
#include <fstream>
 
// shared
#include <depthai-shared/properties/FeatureTrackerProperties.hpp>
 
#include "depthai/pipeline/datatype/FeatureTrackerConfig.hpp"
 
namespace dai {
namespace node {
 
class FeatureTracker : public NodeCRTP<Node, FeatureTracker, FeatureTrackerProperties> {
   public:
    constexpr static const char* NAME = "FeatureTracker";
 
   protected:
    Properties& getProperties();
 
   private:
    std::shared_ptr<RawFeatureTrackerConfig> rawConfig;
 
   public:
    FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    FeatureTrackerConfig initialConfig;
 
    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::FeatureTrackerConfig, false}}};
    Input inputImage{*this, "inputImage", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
    Output outputFeatures{*this, "outputFeatures", Output::Type::MSender, {{DatatypeEnum::TrackedFeatures, false}}};
 
    Output passthroughInputImage{*this, "passthroughInputImage", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    // Functions to set properties
    [[deprecated("Use 'inputConfig.setWaitForMessage()' instead")]] void setWaitForConfigInput(bool wait);
 
    [[deprecated("Use 'inputConfig.setWaitForMessage()' instead")]] bool getWaitForConfigInput() const;
 
    void setHardwareResources(int numShaves, int numMemorySlices);
};
 
}  // namespace node
}  // namespace dai