PointCloud.hpp

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#pragma once
 
#include <depthai/pipeline/Node.hpp>
 
// standard
#include <fstream>
 
// shared
#include <depthai-shared/properties/PointCloudProperties.hpp>
 
#include "depthai/pipeline/datatype/PointCloudConfig.hpp"
 
namespace dai {
namespace node {
 
class PointCloud : public NodeCRTP<Node, PointCloud, PointCloudProperties> {
   public:
    constexpr static const char* NAME = "PointCloud";
 
   protected:
    Properties& getProperties();
 
   private:
    std::shared_ptr<RawPointCloudConfig> rawConfig;
 
   public:
    PointCloud(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    PointCloud(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    PointCloudConfig initialConfig;
 
    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::PointCloudConfig, false}}};
 
    Input inputDepth{*this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};
 
    Output outputPointCloud{*this, "outputPointCloud", Output::Type::MSender, {{DatatypeEnum::PointCloudData, false}}};
 
    Output passthroughDepth{*this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}};
 
    void setNumFramesPool(int numFramesPool);
};
 
}  // namespace node
}  // namespace dai