.. _program_listing_file__tmp_ws_src_depthai-ros_depthai_ros_driver_include_depthai_ros_driver_pipeline_base_pipeline.hpp:

Program Listing for File base_pipeline.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_depthai-ros_depthai_ros_driver_include_depthai_ros_driver_pipeline_base_pipeline.hpp>` (``/tmp/ws/src/depthai-ros/depthai_ros_driver/include/depthai_ros_driver/pipeline/base_pipeline.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   #include <string>
   #include <unordered_map>
   #include <vector>
   
   #include "depthai_ros_driver/dai_nodes/base_node.hpp"
   #include "depthai_ros_driver/dai_nodes/nn/nn_helpers.hpp"
   #include "depthai_ros_driver/dai_nodes/nn/nn_wrapper.hpp"
   #include "depthai_ros_driver/dai_nodes/nn/spatial_nn_wrapper.hpp"
   #include "depthai_ros_driver/dai_nodes/sensors/sensor_helpers.hpp"
   #include "depthai_ros_driver/dai_nodes/stereo.hpp"
   
   namespace dai {
   class Pipeline;
   class Device;
   }  // namespace dai
   
   namespace rclcpp {
   class Node;
   }
   
   namespace depthai_ros_driver {
   namespace pipeline_gen {
   enum class NNType { None, RGB, Spatial };
   class BasePipeline {
      public:
       ~BasePipeline() = default;
       std::unique_ptr<dai_nodes::BaseNode> createNN(rclcpp::Node* node, std::shared_ptr<dai::Pipeline> pipeline, dai_nodes::BaseNode& daiNode) {
           auto nn = std::make_unique<dai_nodes::NNWrapper>("nn", node, pipeline);
           daiNode.link(nn->getInput(), static_cast<int>(dai_nodes::link_types::RGBLinkType::preview));
           return nn;
       }
       std::unique_ptr<dai_nodes::BaseNode> createSpatialNN(rclcpp::Node* node,
                                                            std::shared_ptr<dai::Pipeline> pipeline,
                                                            dai_nodes::BaseNode& daiNode,
                                                            dai_nodes::BaseNode& daiStereoNode) {
           auto nn = std::make_unique<dai_nodes::SpatialNNWrapper>("nn", node, pipeline);
           daiNode.link(nn->getInput(static_cast<int>(dai_nodes::nn_helpers::link_types::SpatialNNLinkType::input)),
                        static_cast<int>(dai_nodes::link_types::RGBLinkType::preview));
           daiStereoNode.link(nn->getInput(static_cast<int>(dai_nodes::nn_helpers::link_types::SpatialNNLinkType::inputDepth)));
           return nn;
       }
   
       virtual std::vector<std::unique_ptr<dai_nodes::BaseNode>> createPipeline(rclcpp::Node* node,
                                                                                std::shared_ptr<dai::Device> device,
                                                                                std::shared_ptr<dai::Pipeline> pipeline,
                                                                                const std::string& nnType) = 0;
   
      protected:
       BasePipeline(){};
       std::unordered_map<std::string, NNType> nnTypeMap = {
           {"", NNType::None},
           {"NONE", NNType::None},
           {"RGB", NNType::RGB},
           {"SPATIAL", NNType::Spatial},
       };
   };
   }  // namespace pipeline_gen
   }  // namespace depthai_ros_driver