updated PR req

include/depthai/depthai_wrapper.hpp

@@ -11,32 +11,41 @@ namespace DepthAI
 {
 
 using CV_mat_ptr = std::shared_ptr<cv::Mat>;  // shared ptr for cv::Mat
+using PacketsTuple = std::tuple<
+        std::list<std::shared_ptr<NNetPacket>>,
+        std::list<std::shared_ptr<HostDataPacket>>>;  // tuple of data packets on which Depthai is
+                                                      // publishing the streams
+
+/**  DepthAI:
+ *   This is a wrapper on the host side of the device which 
+ *   helps in initializing OAK device, creating pipeline
+ *   and fetching the frames as cv::Mat. 
+ */
 
 class DepthAI : public Device
 {
 
 public:
     /**  Constructor:
      *   initializing OAK device and creating pipeline
-     *   to capture camera streams and AI outputs.
+     *  @param usb_device (std::string): Provide the path of the device
+     *  or pass empty string to choose the default device.
+     *  @param config_file (std::string): Provides the json file which is
+     *  used by the Depthai to configure the OAK-D.
+     *  @param usb2_mode (bool): set to true to connect over usb2
      */
     DepthAI(const std::string& usb_device, const std::string& config_file, bool usb2_mode = false);
 
     /* API to stream output frames from OAK.
      * AI data and metadata is WIP
      */
-
     void get_frames(std::unordered_map<std::string, CV_mat_ptr>& output_streams);
 
     /* Destructor */
     ~DepthAI();
 
 private:
-    using PacketsTuple = std::tuple<
-        std::list<std::shared_ptr<NNetPacket>>,
-        std::list<std::shared_ptr<HostDataPacket>>>;  // tuple of data packets on which Depthai is
-                                                      // publishing the streams
-
+
     std::shared_ptr<CNNHostPipeline> pipeline_;  // Depthai's pipeline object.
 
     PacketsTuple packets_;
@@ -55,3 +64,4 @@ class DepthAI : public Device
 };
 
 }  // namespace DepthAI
+

src/depthai_wrapper.cpp

@@ -128,7 +128,6 @@ DepthAI::~DepthAI() = default;
 
 void DepthAI::get_frames(std::unordered_map<std::string, CV_mat_ptr>& output_streams)
 {
-    // std::cout << "mono it-----" << mono_height_ << " ~~ " << mono_width_ << std::endl;
 
     int count = stream_names_.size();
     std::vector<std::string>::iterator it;
@@ -166,4 +165,4 @@ void DepthAI::get_frames(std::unordered_map<std::string, CV_mat_ptr>& output_str
     }
 }
 
-}  // namespace DepthAI
+}  // namespace DepthAI