Class TrackSpatialDetectionConverter

Defined in File TrackSpatialDetectionConverter.hpp

Class Documentation

class TrackSpatialDetectionConverter

Public Functions

TrackSpatialDetectionConverter(std::string frameName, int width, int height, bool normalized = false, float thresh = 0.0, bool getBaseDeviceTimestamp = false)

~TrackSpatialDetectionConverter()

void updateRosBaseTime(): Handles cases in which the ROS time shifts forward or backward Should be called at regular intervals or on-change of ROS time, depending on monitoring.

inline void setUpdateRosBaseTimeOnToRosMsg(bool update = true)

Commands the converter to automatically update the ROS base time on message conversion based on variable.

Parameters:: update – bool whether to automatically update the ROS base time on message conversion

void toRosMsg(std::shared_ptr<dai::Tracklets> trackData, std::deque<depthai_ros_msgs::msg::TrackDetection2DArray> &opDetectionMsgs)

depthai_ros_msgs::msg::TrackDetection2DArray::SharedPtr toRosMsgPtr(std::shared_ptr<dai::Tracklets> trackData)