Class PipelineGenerator

Defined in File pipeline_generator.hpp

Class Documentation

class PipelineGenerator

Public Functions

PipelineGenerator()

~PipelineGenerator()

std::string validatePipeline(std::shared_ptr<rclcpp::Node> node, const std::string &typeStr, int sensorNum, const std::string &deviceName)

Validates the pipeline type. If the pipeline type is not valid for the number of sensors, it will be changed to the default type.

Parameters:

node – The node used for logging
type – [in] The type
sensorNum – [in] The sensor number

Returns:

The validated pipeline type.

std::vector<std::unique_ptr<dai_nodes::BaseNode>> createPipeline(std::shared_ptr<rclcpp::Node> node, std::shared_ptr<dai::Device> device, std::shared_ptr<dai::Pipeline> pipeline, const std::string &pipelineType, const std::string &nnType)

Creates the pipeline by using a plugin. Plugin types need to be of type depthai_ros_driver::pipeline_gen::BasePipeline.

Parameters:

node – The node
device – The device
pipeline – The pipeline
pipelineType – [in] The pipeline type name (plugin name or one of the default types)
nnType – [in] The neural network type (none, rgb, spatial)
enableImu – [in] Indicates if IMU is enabled

Returns:

Vector BaseNodes created.

Protected Attributes

std::unordered_map<std::string, std::string> pluginTypeMap

std::unordered_map<std::string, PipelineType> pipelineTypeMap