SpatialLocationCalculator.hpp

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