Class BaseNode
Defined in File base_node.hpp
Inheritance Relationships
Derived Types
public depthai_ros_driver::dai_nodes::FeatureTracker
(Class FeatureTracker)public depthai_ros_driver::dai_nodes::Imu
(Class Imu)public depthai_ros_driver::dai_nodes::Mono
(Class Mono)public depthai_ros_driver::dai_nodes::NNWrapper
(Class NNWrapper)public depthai_ros_driver::dai_nodes::RGB
(Class RGB)public depthai_ros_driver::dai_nodes::SensorWrapper
(Class SensorWrapper)public depthai_ros_driver::dai_nodes::SpatialNNWrapper
(Class SpatialNNWrapper)public depthai_ros_driver::dai_nodes::Stereo
(Class Stereo)public depthai_ros_driver::dai_nodes::SysLogger
(Class SysLogger)public depthai_ros_driver::dai_nodes::nn::Detection< T >
(Template Class Detection)public depthai_ros_driver::dai_nodes::nn::Segmentation
(Class Segmentation)public depthai_ros_driver::dai_nodes::nn::SpatialDetection< T >
(Template Class SpatialDetection)
Class Documentation
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class BaseNode
Subclassed by depthai_ros_driver::dai_nodes::FeatureTracker, depthai_ros_driver::dai_nodes::Imu, depthai_ros_driver::dai_nodes::Mono, depthai_ros_driver::dai_nodes::NNWrapper, depthai_ros_driver::dai_nodes::RGB, depthai_ros_driver::dai_nodes::SensorWrapper, depthai_ros_driver::dai_nodes::SpatialNNWrapper, depthai_ros_driver::dai_nodes::Stereo, depthai_ros_driver::dai_nodes::SysLogger, depthai_ros_driver::dai_nodes::nn::Detection< T >, depthai_ros_driver::dai_nodes::nn::Segmentation, depthai_ros_driver::dai_nodes::nn::SpatialDetection< T >
Public Functions
Constructor of the class BaseNode. Creates a node in the pipeline.
- Parameters:
daiNodeName – [in] The dai node name
node – The node
pipeline – The pipeline
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virtual ~BaseNode()
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virtual void updateParams(const std::vector<rclcpp::Parameter> ¶ms)
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virtual void link(dai::Node::Input in, int linkType = 0)
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virtual dai::Node::Input getInput(int linkType = 0)
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virtual void setNames() = 0
Sets the names of the queues.
Link inputs and outputs.
- Parameters:
pipeline – The pipeline
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virtual void closeQueues() = 0
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void setNodeName(const std::string &daiNodeName)
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void setROSNodePointer(rclcpp::Node *node)
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rclcpp::Node *getROSNode()
Gets the ROS node pointer.
- Returns:
The ROS node pointer.
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std::string getName()
Gets the name of the node.
- Returns:
The name.
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std::string getTFPrefix(const std::string &frameName = "")
Append ROS node name to the frameName given.
- Parameters:
frameName – [in] The frame name
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bool ipcEnabled()