Class PointCloud

Inheritance Relationships

Base Type

Class Documentation

class PointCloud : public dai::NodeCRTP<Node, PointCloud, PointCloudProperties>

PointCloud node. Computes point cloud from depth frames.

Public 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)

Specify number of frames in pool.

Parameters:

numFramesPool – How many frames should the pool have

Public Members

PointCloudConfig initialConfig

Initial config to use when computing the point cloud.

Input 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.

Input 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.

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

Outputs PointCloudData message

Output 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.

Public Static Attributes

static constexpr const char *NAME = "PointCloud"

Protected Functions

virtual Properties &getProperties()