Class TrackedFeaturesConverter

Defined in File TrackedFeaturesConverter.hpp

Class Documentation

class TrackedFeaturesConverter

Public Functions

TrackedFeaturesConverter(std::string frameName, bool getBaseDeviceTimestamp = false)

~TrackedFeaturesConverter()

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::TrackedFeatures> inFeatures, std::deque<depthai_ros_msgs::msg::TrackedFeatures> &featureMsgs)