Class SensorWrapper

Defined in File sensor_wrapper.hpp

Inheritance Relationships

Base Type

public depthai_ros_driver::dai_nodes::BaseNode (Class BaseNode)

Class Documentation

class SensorWrapper : public depthai_ros_driver::dai_nodes::BaseNode 

Public Functions

explicit SensorWrapper(const std::string &daiNodeName, std::shared_ptr<rclcpp::Node> node, std::shared_ptr<dai::Pipeline> pipeline, std::shared_ptr<dai::Device> device, dai::CameraBoardSocket socket, bool publish = true)

~SensorWrapper()

virtual void updateParams(const std::vector<rclcpp::Parameter> &params) override

virtual void setupQueues(std::shared_ptr<dai::Device> device) override

virtual void link(dai::Node::Input in, int linkType = 0) override

virtual void setNames() override: Sets the names of the queues.

virtual void setXinXout(std::shared_ptr<dai::Pipeline> pipeline) override

Link inputs and outputs.

Parameters:: pipeline – The pipeline

virtual void closeQueues() override

sensor_helpers::ImageSensor getSensorData()

virtual std::vector<std::shared_ptr<sensor_helpers::ImagePublisher>> getPublishers() override