Class ToF

• Defined in File ToF.hpp

Inheritance Relationships

Base Type

• public dai::NodeCRTP< Node, ToF, ToFProperties > (Template Class NodeCRTP)

Class Documentation

class ToF : public dai::NodeCRTP<Node, ToF, ToFProperties>

ToF node.

Public Functions

ToF(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId)

Constructs ToF node.

ToF(const std::shared_ptr<PipelineImpl> &par, int64_t nodeId, std::unique_ptr<Properties> props)

ToF &setNumShaves(int numShaves)

Specify number of shaves reserved for ToF decoding.

ToF &setNumFramesPool(int numFramesPool)

Specify number of frames in output pool

Parameters:

numFramesPool – Number of frames in output pool

Public Members

ToFConfig initialConfig

Initial config to use for depth calculation.

Input inputConfig = {*this, "inputConfig", Input::Type::SReceiver, false, 4, {{DatatypeEnum::ToFConfig, false}}}

Input ToF message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.

Input input = {*this, "input", Input::Type::SReceiver, true, 8, {{DatatypeEnum::ImgFrame, true}}}

Input raw ToF data. Default queue is blocking with size 8.

Output depth = {*this, "depth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}}

Outputs ImgFrame message that carries decoded depth image.

Output amplitude = {*this, "amplitude", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}}

Outputs ImgFrame message that carries amplitude image.

Output intensity = {*this, "intensity", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}}

Outputs ImgFrame message that carries intensity image.

Output phase = {*this, "phase", Output::Type::MSender, {{DatatypeEnum::ImgFrame, true}}}

Outputs ImgFrame message that carries phase image, useful for debugging. float32 type.

Public Static Attributes

static constexpr const char *NAME = "ToF"

Protected Functions

virtual Properties &getProperties()