.. _program_listing_file__tmp_ws_src_depthai-ros_depthai_bridge_include_depthai_bridge_SpatialDetectionConverter.hpp:

Program Listing for File SpatialDetectionConverter.hpp
======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_depthai-ros_depthai_bridge_include_depthai_bridge_SpatialDetectionConverter.hpp>` (``/tmp/ws/src/depthai-ros/depthai_bridge/include/depthai_bridge/SpatialDetectionConverter.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <deque>
   #include <memory>
   #include <string>
   
   #include "depthai/pipeline/datatype/SpatialImgDetections.hpp"
   #include "depthai_ros_msgs/msg/spatial_detection_array.hpp"
   #include "rclcpp/time.hpp"
   #include "vision_msgs/msg/detection3_d_array.hpp"
   
   namespace dai {
   
   namespace ros {
   
   namespace SpatialMessages = depthai_ros_msgs::msg;
   using SpatialDetectionArrayPtr = SpatialMessages::SpatialDetectionArray::SharedPtr;
   
   class SpatialDetectionConverter {
      public:
       SpatialDetectionConverter(std::string frameName, int width, int height, bool normalized = false, bool getBaseDeviceTimestamp = false);
       ~SpatialDetectionConverter();
   
       void updateRosBaseTime();
   
       void setUpdateRosBaseTimeOnToRosMsg(bool update = true) {
           _updateRosBaseTimeOnToRosMsg = update;
       }
   
       void toRosMsg(std::shared_ptr<dai::SpatialImgDetections> inNetData, std::deque<SpatialMessages::SpatialDetectionArray>& opDetectionMsg);
       void toRosVisionMsg(std::shared_ptr<dai::SpatialImgDetections> inNetData, std::deque<vision_msgs::msg::Detection3DArray>& opDetectionMsg);
   
       SpatialDetectionArrayPtr toRosMsgPtr(std::shared_ptr<dai::SpatialImgDetections> inNetData);
   
      private:
       int _width, _height;
       const std::string _frameName;
       bool _normalized;
       std::chrono::time_point<std::chrono::steady_clock> _steadyBaseTime;
   
       rclcpp::Time _rosBaseTime;
       bool _getBaseDeviceTimestamp;
       // For handling ROS time shifts and debugging
       int64_t _totalNsChange{0};
       // Whether to update the ROS base time on each message conversion
       bool _updateRosBaseTimeOnToRosMsg{false};
   };
   
   }  // namespace ros
   
   namespace rosBridge = ros;
   
   }  // namespace dai