Class PipelineGenerator
Defined in File pipeline_generator.hpp
Class Documentation
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class PipelineGenerator
Public Functions
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~PipelineGenerator() = default
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std::string validatePipeline(rclcpp::Node *node, const std::string &typeStr, int sensorNum)
Validates the pipeline type. If the pipeline type is not valid for the number of sensors, it will be changed to the default type.
- Parameters:
node – The node used for logging
type – [in] The type
sensorNum – [in] The sensor number
- Returns:
The validated pipeline type.
Creates the pipeline by using a plugin. Plugin types need to be of type depthai_ros_driver::pipeline_gen::BasePipeline.
- Parameters:
node – The node
device – The device
pipeline – The pipeline
pipelineType – [in] The pipeline type name (plugin name or one of the default types)
nnType – [in] The neural network type (none, rgb, spatial)
enableImu – [in] Indicates if IMU is enabled
- Returns:
Vector BaseNodes created.
Protected Attributes
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std::unordered_map<std::string, std::string> pluginTypeMap = {{"RGB", "depthai_ros_driver::pipeline_gen::RGB"}, {"RGBD", "depthai_ros_driver::pipeline_gen::RGBD"}, {"RGBSTEREO", "depthai_ros_driver::pipeline_gen::RGBStereo"}, {"STEREO", "depthai_ros_driver::pipeline_gen::Stereo"}, {"DEPTH", "depthai_ros_driver::pipeline_gen::Depth"}, {"CAMARRAY", "depthai_ros_driver::pipeline_gen::CamArray"}}
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std::unordered_map<std::string, PipelineType> pipelineTypeMap{{"RGB", PipelineType::RGB}, {"RGBD", PipelineType::RGBD}, {"RGBSTEREO", PipelineType::RGBStereo}, {"STEREO", PipelineType::Stereo}, {"DEPTH", PipelineType::Depth}, {"CAMARRAY", PipelineType::CamArray}}
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~PipelineGenerator() = default