PointCloudConfig.hpp

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#pragma once
 
#include <unordered_map>
#include <vector>
 
#include "depthai-shared/datatype/RawPointCloudConfig.hpp"
#include "depthai/pipeline/datatype/Buffer.hpp"
 
namespace dai {
 
class PointCloudConfig : public Buffer {
    std::shared_ptr<RawBuffer> serialize() const override;
    RawPointCloudConfig& cfg;
 
   public:
    PointCloudConfig();
    explicit PointCloudConfig(std::shared_ptr<RawPointCloudConfig> ptr);
    virtual ~PointCloudConfig() = default;
 
    PointCloudConfig& set(dai::RawPointCloudConfig config);
 
    dai::RawPointCloudConfig get() const;
 
    bool getSparse() const;
 
    std::array<std::array<float, 4>, 4> getTransformationMatrix() const;
 
    PointCloudConfig& setSparse(bool enable);
 
    PointCloudConfig& setTransformationMatrix(const std::array<std::array<float, 4>, 4>& transformationMatrix);
 
    PointCloudConfig& setTransformationMatrix(const std::array<std::array<float, 3>, 3>& transformationMatrix);
};
 
}  // namespace dai