Program Listing for File SpatialDetectionConverter.hpp

↰ Return to documentation for file (/tmp/ws/src/depthai-ros/depthai_bridge/include/depthai_bridge/SpatialDetectionConverter.hpp)

#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