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::Stereo (Class Stereo)

• public depthai_ros_driver::dai_nodes::Sync (Class Sync)

• public depthai_ros_driver::dai_nodes::SysLogger (Class SysLogger)

• public depthai_ros_driver::dai_nodes::Thermal (Class Thermal)

• public depthai_ros_driver::dai_nodes::ToF (Class ToF)

• 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

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::Stereo, depthai_ros_driver::dai_nodes::Sync, depthai_ros_driver::dai_nodes::SysLogger, depthai_ros_driver::dai_nodes::Thermal, depthai_ros_driver::dai_nodes::ToF, 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

BaseNode(const std::string &daiNodeName, std::shared_ptr<rclcpp::Node> node, std::shared_ptr<dai::Pipeline> pipeline)

Constructor of the class BaseNode. Creates a node in the pipeline.

Parameters:

• daiNodeName – [in] The dai node name

• node – The node

• pipeline – The pipeline

virtual ~BaseNode()

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

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

virtual dai::Node::Input getInput(int linkType = 0)

virtual dai::Node::Input getInputByName(const std::string &name = "")

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

virtual void setupQueues(std::shared_ptr<dai::Device> device) = 0

virtual void setNames() = 0

Sets the names of the queues.

virtual void setXinXout(std::shared_ptr<dai::Pipeline> pipeline) = 0

Link inputs and outputs.

Parameters:

pipeline – The pipeline

std::shared_ptr<sensor_helpers::ImagePublisher> setupOutput(std::shared_ptr<dai::Pipeline> pipeline, const std::string &qName, std::function<void(dai::Node::Input input)> nodeLink, bool isSynced = false, const utils::VideoEncoderConfig &encoderConfig = {})

virtual void closeQueues() = 0

std::shared_ptr<dai::node::XLinkOut> setupXout(std::shared_ptr<dai::Pipeline> pipeline, const std::string &name)

void setNodeName(const std::string &daiNodeName)

void setROSNodePointer(std::shared_ptr<rclcpp::Node> node)

std::shared_ptr<rclcpp::Node> getROSNode()

Gets the ROS node pointer.

Returns:

The ROS node pointer.

std::string getName()

Gets the name of the node.

Returns:

The name.

std::string getTFPrefix(const std::string &frameName = "")

Append ROS node name to the frameName given.

Parameters:

frameName – [in] The frame name

std::string getOpticalTFPrefix(const std::string &frameName = "")

Append ROS node name to the frameName given and append optical frame suffix to it.

Parameters:

frameName – [in] The frame name

bool ipcEnabled()

std::string getSocketName(dai::CameraBoardSocket socket)

bool rsCompabilityMode()

rclcpp::Logger getLogger()