Warp.hpp

Go to the documentation of this file.

#pragma once
 
#include <depthai/pipeline/Node.hpp>
// #include <depthai/pipeline/datatype/WarpConfig.hpp>
 
// shared
#include <depthai-shared/common/Point2f.hpp>
#include <depthai-shared/properties/WarpProperties.hpp>
 
namespace dai {
namespace node {
 
class Warp : public NodeCRTP<Node, Warp, WarpProperties> {
   public:
    constexpr static const char* NAME = "Warp";
 
   protected:
    Properties& getProperties();
 
   private:
    void setWarpMesh(const float* meshData, int numMeshPoints, int width, int height);
 
   public:
    Warp(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    Warp(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);
 
    // /**
    //  * Initial config to use when manipulating frames
    //  */
    // WarpConfig initialConfig;
 
    // /**
    //  * Input WarpConfig message with ability to modify parameters in runtime
    //  * Default queue is blocking with size 8
    //  */
    // Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, true, 8, {{DatatypeEnum::WarpConfig, true}}};
 
    Input inputImage{*this, "inputImage", Input::Type::SReceiver, true, 8, true, {{DatatypeEnum::ImgFrame, true}}};
 
    Output out{*this, "out", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}};
 
    void setOutputSize(std::tuple<int, int> size);
    void setOutputSize(int width, int height);
 
    void setWarpMesh(const std::vector<Point2f>& meshData, int width, int height);
    void setWarpMesh(const std::vector<std::pair<float, float>>& meshData, int width, int height);
 
    void setNumFramesPool(int numFramesPool);
 
    void setMaxOutputFrameSize(int maxFrameSize);
 
    void setHwIds(std::vector<int> ids);
    std::vector<int> getHwIds() const;
 
    void setInterpolation(dai::Interpolation interpolation);
    dai::Interpolation getInterpolation() const;
};
 
}  // namespace node
}  // namespace dai