Program Listing for File 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