Class PointCloud

Inheritance Relationships

Base Type

Class Documentation

class PointCloud : public dai::DeviceNodeCRTP<DeviceNode, PointCloud, PointCloudProperties>

PointCloud node. Computes point cloud from depth frames.

Public Functions

void setNumFramesPool(int numFramesPool)

Specify number of frames in pool.

Parameters:

numFramesPool – How many frames should the pool have

Public Members

std::shared_ptr<PointCloudConfig> initialConfig = std::make_shared<PointCloudConfig>()

Initial config to use when computing the point cloud.

Input inputConfig = {*this, {"inputConfig", DEFAULT_GROUP, false, 4, {{{DatatypeEnum::PointCloudConfig, false}}}, DEFAULT_WAIT_FOR_MESSAGE}}

Input PointCloudConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.

Input inputDepth = {*this, {"inputDepth", DEFAULT_GROUP, false, 4, {{{DatatypeEnum::ImgFrame, false}}}, true}}

Input message with depth data used to create the point cloud. Default queue is non-blocking with size 4.

Output outputPointCloud = {*this, {"outputPointCloud", DEFAULT_GROUP, {{{DatatypeEnum::PointCloudData, false}}}}}

Outputs PointCloudData message

Output passthroughDepth = {*this, {"passthroughDepth", DEFAULT_GROUP, {{{DatatypeEnum::ImgFrame, false}}}}}

Passthrough depth from which the point cloud was calculated. Suitable for when input queue is set to non-blocking behavior.

Public Static Attributes

static constexpr const char *NAME = "PointCloud"

Protected Functions

virtual Properties &getProperties() override
inline DeviceNodeCRTP()
inline DeviceNodeCRTP(const std::shared_ptr<Device> &device)
inline DeviceNodeCRTP(std::unique_ptr<Properties> props)
inline DeviceNodeCRTP(std::unique_ptr<Properties> props, bool confMode)
inline DeviceNodeCRTP(const std::shared_ptr<Device> &device, std::unique_ptr<Properties> props, bool confMode)