PointCloud node. Computes point cloud from depth frames. More...

#include <PointCloud.hpp>

Inheritance diagram for dai::node::PointCloud:

Public Member Functions
	PointCloud (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId)

	PointCloud (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId, std::unique_ptr< Properties > props)

void	setNumFramesPool (int numFramesPool)

Public Member Functions inherited from dai::NodeCRTP< Node, PointCloud, PointCloudProperties >
std::unique_ptr< Node >	clone () const override

const char *	getName () const override

Public Member Functions inherited from dai::Node
virtual std::unique_ptr< Node >	clone () const =0
	Deep copy the node. More...

AssetManager &	getAssetManager ()
	Get node AssetManager as a reference. More...

const AssetManager &	getAssetManager () const
	Get node AssetManager as a const reference. More...

std::vector< Input * >	getInputRefs ()
	Retrieves reference to node inputs. More...

std::vector< const Input * >	getInputRefs () const
	Retrieves reference to node inputs. More...

std::vector< Input >	getInputs ()
	Retrieves all nodes inputs. More...

virtual const char *	getName () const =0
	Retrieves nodes name. More...

std::vector< Output * >	getOutputRefs ()
	Retrieves reference to node outputs. More...

std::vector< const Output * >	getOutputRefs () const
	Retrieves reference to node outputs. More...

std::vector< Output >	getOutputs ()
	Retrieves all nodes outputs. More...

Pipeline	getParentPipeline ()

const Pipeline	getParentPipeline () const

	Node (const std::shared_ptr< PipelineImpl > &p, Id nodeId, std::unique_ptr< Properties > props)
	Constructs Node. More...

virtual	~Node ()=default

Public Attributes
PointCloudConfig	initialConfig

Input	inputConfig {*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::PointCloudConfig, false}}}

Input	inputDepth {*this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}

Output	outputPointCloud {*this, "outputPointCloud", Output::Type::MSender, {{DatatypeEnum::PointCloudData, false}}}

Output	passthroughDepth {*this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Public Attributes inherited from dai::NodeCRTP< Node, PointCloud, PointCloudProperties >
Properties &	properties
	Underlying properties. More...

Public Attributes inherited from dai::Node
const Id	id
	Id of node. More...

Properties &	properties

Static Public Attributes
constexpr static const char *	NAME = "PointCloud"

Protected Member Functions
Properties &	getProperties ()

Protected Member Functions inherited from dai::Node
virtual tl::optional< OpenVINO::Version >	getRequiredOpenVINOVersion ()

void	setInputMapRefs (InputMap *inMapRef)

void	setInputMapRefs (std::initializer_list< InputMap * > l)

void	setInputRefs (Input *inRef)

void	setInputRefs (std::initializer_list< Input * > l)

void	setOutputMapRefs (OutputMap *outMapRef)

void	setOutputMapRefs (std::initializer_list< OutputMap * > l)

void	setOutputRefs (Output *outRef)

void	setOutputRefs (std::initializer_list< Output * > l)

Private Attributes
std::shared_ptr< RawPointCloudConfig >	rawConfig

Additional Inherited Members
Public Types inherited from dai::NodeCRTP< Node, PointCloud, PointCloudProperties >
using	Properties = PointCloudProperties

Public Types inherited from dai::Node
using	Id = std::int64_t
	Node identificator. Unique for every node on a single Pipeline. More...

Protected Attributes inherited from dai::Node
AssetManager	assetManager

std::unordered_map< std::string, InputMap * >	inputMapRefs

std::unordered_map< std::string, Input * >	inputRefs

std::unordered_map< std::string, OutputMap * >	outputMapRefs

std::unordered_map< std::string, Output * >	outputRefs

std::weak_ptr< PipelineImpl >	parent

copyable_unique_ptr< Properties >	propertiesHolder

Detailed Description

PointCloud node. Computes point cloud from depth frames.

Definition at line 19 of file PointCloud.hpp.

Constructor & Destructor Documentation

◆ PointCloud() [1/2]

dai::node::PointCloud::PointCloud	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId
	)

Definition at line 8 of file PointCloud.cpp.

◆ PointCloud() [2/2]

dai::node::PointCloud::PointCloud	(	const std::shared_ptr< PipelineImpl > &	par,
		int64_t	nodeId,
		std::unique_ptr< Properties >	props
	)

Definition at line 9 of file PointCloud.cpp.

Member Function Documentation

◆ getProperties()

PointCloud::Properties & dai::node::PointCloud::getProperties ( )

protectedvirtual

Reimplemented from dai::Node.

Definition at line 17 of file PointCloud.cpp.

◆ setNumFramesPool()

void dai::node::PointCloud::setNumFramesPool ( int numFramesPool )

Specify number of frames in pool.

Parameters

numFramesPool How many frames should the pool have

Definition at line 22 of file PointCloud.cpp.

Member Data Documentation

◆ initialConfig

PointCloudConfig dai::node::PointCloud::initialConfig

Initial config to use when computing the point cloud.

Definition at line 36 of file PointCloud.hpp.

◆ inputConfig

Input dai::node::PointCloud::inputConfig {*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::PointCloudConfig, false}}}

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

Definition at line 42 of file PointCloud.hpp.

◆ inputDepth

Input dai::node::PointCloud::inputDepth {*this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}

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

Definition at line 48 of file PointCloud.hpp.

◆ NAME

constexpr static const char* dai::node::PointCloud::NAME = "PointCloud"

staticconstexpr

Definition at line 21 of file PointCloud.hpp.

◆ outputPointCloud

Output dai::node::PointCloud::outputPointCloud {*this, "outputPointCloud", Output::Type::MSender, {{DatatypeEnum::PointCloudData, false}}}

Outputs PointCloudData message

Definition at line 53 of file PointCloud.hpp.

◆ passthroughDepth

Output dai::node::PointCloud::passthroughDepth {*this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

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

Definition at line 59 of file PointCloud.hpp.

◆ rawConfig

std::shared_ptr<RawPointCloudConfig> dai::node::PointCloud::rawConfig

private

Definition at line 27 of file PointCloud.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Private Attributes

Additional Inherited Members