Program Listing for File feature_tracker_param_handler.hpp
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#pragma once
#include <memory>
#include <string>
#include <vector>
#include "depthai/pipeline/datatype/CameraControl.hpp"
#include "depthai/pipeline/datatype/FeatureTrackerConfig.hpp"
#include "depthai_ros_driver/param_handlers/base_param_handler.hpp"
namespace dai {
namespace node {
class FeatureTracker;
}
} // namespace dai
namespace rclcpp {
class Node;
class Parameter;
} // namespace rclcpp
namespace depthai_ros_driver {
namespace param_handlers {
class FeatureTrackerParamHandler : public BaseParamHandler {
public:
explicit FeatureTrackerParamHandler(rclcpp::Node* node, const std::string& name);
~FeatureTrackerParamHandler();
void declareParams(std::shared_ptr<dai::node::FeatureTracker> featureTracker);
dai::CameraControl setRuntimeParams(const std::vector<rclcpp::Parameter>& params) override;
std::unordered_map<std::string, dai::FeatureTrackerConfig::MotionEstimator::Type> motionEstMap;
};
} // namespace param_handlers
} // namespace depthai_ros_driver