Program Listing for File FeatureTracker.hpp

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#pragma once

#include <depthai/pipeline/Node.hpp>

// standard
#include <fstream>

// shared
#include <depthai-shared/properties/FeatureTrackerProperties.hpp>

#include "depthai/pipeline/datatype/FeatureTrackerConfig.hpp"

namespace dai {
namespace node {

class FeatureTracker : public NodeCRTP<Node, FeatureTracker, FeatureTrackerProperties> {
   public:
    constexpr static const char* NAME = "FeatureTracker";

   protected:
    Properties& getProperties();

   private:
    std::shared_ptr<RawFeatureTrackerConfig> rawConfig;

   public:
    FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId);
    FeatureTracker(const std::shared_ptr<PipelineImpl>& par, int64_t nodeId, std::unique_ptr<Properties> props);

    FeatureTrackerConfig initialConfig;

    Input inputConfig{*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::FeatureTrackerConfig, false}}};
    Input inputImage{*this, "inputImage", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}};

    Output outputFeatures{*this, "outputFeatures", Output::Type::MSender, {{DatatypeEnum::TrackedFeatures, false}}};

    Output passthroughInputImage{*this, "passthroughInputImage", 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;

    void setHardwareResources(int numShaves, int numMemorySlices);
};

}  // namespace node
}  // namespace dai