Class SpatialBB

Defined in File spatial_bb.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class SpatialBB : public rclcpp::Node

Public Types

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, vision_msgs::msg::Detection3DArray> syncPolicy

Public Functions

explicit SpatialBB(const rclcpp::NodeOptions &options)

void onInit()

void overlayCB(const sensor_msgs::msg::Image::ConstSharedPtr &preview, const sensor_msgs::msg::CameraInfo::ConstSharedPtr &info, const vision_msgs::msg::Detection3DArray::ConstSharedPtr &detections)

Public Members

message_filters::Subscriber<sensor_msgs::msg::Image> previewSub

message_filters::Subscriber<vision_msgs::msg::Detection3DArray> detSub

message_filters::Subscriber<sensor_msgs::msg::CameraInfo> infoSub

std::unique_ptr<message_filters::Synchronizer<syncPolicy>> sync

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr markerPub

rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr overlayPub

std::vector<std::string> labelMap = {"background", "aeroplane", "bicycle", "bird", "boat", "bottle", "bus", "car", "cat", "chair", "cow", "diningtable", "dog", "horse", "motorbike", "person", "pottedplant", "sheep", "sofa", "train", "tvmonitor"}

bool desqueeze = false