DepthAIScanner.h

#pragma once
#include "DLLInfo.h"
#if NDEVR_SCAN
#include "RasterPointScanner/Headers/KeyFramePointRaster.hpp"
#include "RasterPointScanner/Headers/RasterScanner.h"
#include "BlockModel/Headers/SegmentedBlockModel.h"
#include "Design/Headers/PolarPointFilter.h"
#include "Design/Headers/Camera.h"
#include "Base/Headers/Time.h"
#include "Base/Headers/Pointer.hpp"
#include "Base/Headers/Thread.h"
#include "Base/Headers/INIInterface.h"
#include <opencv2\core\mat.hpp>
#include <depthai/pipeline/node/ColorCamera.hpp>
#include <depthai/pipeline/node/StereoDepth.hpp>
#include <depthai/device/DataQueue.hpp>
#include <depthai/pipeline/Pipeline.hpp>
#include <depthai/device/Device.hpp>
#include <QObject>
class ScannerDriver;
namespace rs2
{
    class device;
    class video_stream_profile;
}
namespace NDEVR
{
    struct FileRequest;
    class OrbSLAM;
    class SLAMEngine;
    class DepthAIScannerConnection;
    class DEPTH_AI_INTERFACE_API DepthAIScanner : public RasterScanner
    {
    public:
        DepthAIScanner(Model& model, DepthAIScannerConnection* connection, DesignObjectLookup* manager, QObject* parent = nullptr);
        virtual ~DepthAIScanner();
        virtual void update() override;
        [[nodiscard]] virtual Connection* connection() const override;
        [[nodiscard]] virtual PositionSensor* positionSensor() const { return m_position_sensor; };
        virtual FileRequest scanModelFile() const override;
    protected:
        void updateIOState();
        Matrix<fltp08> scanModelFileTransform() const;
        bool attemptConnection();
    protected:
        dai::Pipeline* m_pipeline;                                
        dai::Device* m_device;                                    
        std::shared_ptr<dai::node::ColorCamera> m_cam_rgb;        
        std::shared_ptr<dai::node::StereoDepth> m_stereo_stream;  
        std::shared_ptr<dai::DataOutputQueue> m_depth_queue;      
        std::shared_ptr<dai::DataOutputQueue> m_rgb_queue;        
        std::shared_ptr<dai::DataOutputQueue> m_imu_queue;        
        std::shared_ptr<dai::DataOutputQueue> m_left_queue;       
        std::shared_ptr<dai::DataOutputQueue> m_right_queue;      
        PositionSensor* m_position_sensor = nullptr;              
        DepthAIScannerConnection* m_connection = nullptr;         
        uint04 m_decimation = 4;                                  
        uint04 m_fps = 30;                                        
        uint04 m_downsample = 3;                                  
        bool m_use_stereo_slam = true;                            
    };
}
#endif