Class ToFBase

Inheritance Relationships

Base Type

Class Documentation

class ToFBase : public dai::DeviceNodeCRTP<DeviceNode, ToFBase, ToFProperties>

ToFBase node. Performs feature tracking and reidentification using motion estimation between 2 consecutive frames.

Public Functions

ToFBase() = default
ToFBase(std::unique_ptr<Properties> props)
std::shared_ptr<ToFBase> build(dai::CameraBoardSocket boardSocket = dai::CameraBoardSocket::AUTO, dai::ImageFiltersPresetMode presetMode = dai::ImageFiltersPresetMode::TOF_MID_RANGE, std::optional<float> fps = std::nullopt)

Build with a specific board socket

inline void setProfilePreset(dai::ImageFiltersPresetMode presetMode)

Set profile preset for ToFConfig

Parameters:

presetMode – Preset mode for ToFConfig

CameraBoardSocket getBoardSocket() const

Retrieves which board socket to use

Returns:

Board socket to use

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)

Public Members

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

Initial config to use for feature tracking.

Input inputConfig{*this, {"inputConfig", DEFAULT_GROUP, DEFAULT_BLOCKING, DEFAULT_QUEUE_SIZE, {{{DatatypeEnum::ToFConfig, false}}}, DEFAULT_WAIT_FOR_MESSAGE}}

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

Output depth = {*this, {"depth", DEFAULT_GROUP, {{{DatatypeEnum::ImgFrame, false}}}}}
Output amplitude = {*this, {"amplitude", DEFAULT_GROUP, {{{DatatypeEnum::ImgFrame, true}}}}}
Output intensity = {*this, {"intensity", DEFAULT_GROUP, {{{DatatypeEnum::ImgFrame, true}}}}}
Output phase = {*this, {"phase", DEFAULT_GROUP, {{{DatatypeEnum::ImgFrame, true}}}}}

Public Static Attributes

static constexpr const char *NAME = "ToF"

Protected Functions

virtual Properties &getProperties()