ToF.hpp

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#pragma once
 
#include "depthai/pipeline/Node.hpp"
 
// shared
#include <depthai-shared/properties/ToFProperties.hpp>
 
#include "depthai/pipeline/datatype/ToFConfig.hpp"
 
namespace dai {
namespace node {
 
class ToF : public NodeCRTP<Node, ToF, ToFProperties> {
   public:
    constexpr static const char* NAME = "ToF";
 
   protected:
    Properties& getProperties();
 
   private:
    std::shared_ptr<RawToFConfig> rawConfig;
 
   public:
    ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    ToF(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    ToFConfig initialConfig;
 
    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ToFConfig, false}}};
 
    Input input{*this, "input", Input::Type::SReceiver, true, 8, {{DatatypeEnum::ImgFrame, true}}};
 
    Output depth{*this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
    Output amplitude{*this, "amplitude", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
    Output intensity{*this, "intensity", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
    Output phase{*this, "phase", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
 
    ToF& setNumShaves(int numShaves);
 
    ToF& setNumFramesPool(int numFramesPool);
};
 
}  // namespace node
}  // namespace dai