PointCloud.cpp

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#include "depthai/pipeline/node/PointCloud.hpp"
 
#include "spdlog/fmt/fmt.h"
 
namespace dai {
namespace node {
 
PointCloud::PointCloud(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId) : PointCloud(par, nodeId, std::make_unique<PointCloud::Properties>()) {}
PointCloud::PointCloud(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props)
    : NodeCRTP<Node, PointCloud, PointCloudProperties>(par, nodeId, std::move(props)),
      rawConfig(std::make_shared<RawPointCloudConfig>()),
      initialConfig(rawConfig) {
    setInputRefs({&inputConfig, &inputDepth});
    setOutputRefs({&outputPointCloud, &passthroughDepth});
}
 
PointCloud::Properties& PointCloud::getProperties() {
    properties.initialConfig = *rawConfig;
    return properties;
}
 
void PointCloud::setNumFramesPool(int numFramesPool) {
    properties.numFramesPool = numFramesPool;
}
 
}  // namespace node
}  // namespace dai