RawSpatialImgDetections.hpp

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#pragma once
 
#include "RawImgDetections.hpp"
#include "depthai-shared/common/Point3f.hpp"
#include "depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp"
#include "depthai-shared/utility/Serialization.hpp"
 
namespace dai {
 
struct SpatialImgDetection : public ImgDetection {
    Point3f spatialCoordinates;
    SpatialLocationCalculatorConfigData boundingBoxMapping;
};
 
DEPTHAI_SERIALIZE_EXT(SpatialImgDetection, label, confidence, xmin, ymin, xmax, ymax, spatialCoordinates, boundingBoxMapping);
 
struct RawSpatialImgDetections : public RawBuffer {
    std::vector<SpatialImgDetection> detections;
 
    void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
        metadata = utility::serialize(*this);
        datatype = DatatypeEnum::SpatialImgDetections;
    };
 
    DatatypeEnum getType() const override {
        return DatatypeEnum::SpatialImgDetections;
    }
 
    DEPTHAI_SERIALIZE(RawSpatialImgDetections, detections, RawBuffer::sequenceNum, RawBuffer::ts, RawBuffer::tsDevice);
};
 
}  // namespace dai