.. _program_listing_file__tmp_ws_src_depthai-ros_depthai_filters_include_depthai_filters_spatial_bb.hpp:

Program Listing for File spatial_bb.hpp
=======================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include "message_filters/subscriber.h"
   #include "message_filters/sync_policies/approximate_time.h"
   #include "message_filters/synchronizer.h"
   #include "rclcpp/rclcpp.hpp"
   #include "sensor_msgs/msg/camera_info.hpp"
   #include "sensor_msgs/msg/image.hpp"
   #include "vision_msgs/msg/detection3_d_array.hpp"
   #include "visualization_msgs/msg/marker_array.hpp"
   
   namespace depthai_filters {
   class SpatialBB : public rclcpp::Node {
      public:
       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);
   
       message_filters::Subscriber<sensor_msgs::msg::Image> previewSub;
       message_filters::Subscriber<vision_msgs::msg::Detection3DArray> detSub;
       message_filters::Subscriber<sensor_msgs::msg::CameraInfo> infoSub;
   
       typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::CameraInfo, vision_msgs::msg::Detection3DArray>
           syncPolicy;
       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;
   };
   
   }  // namespace depthai_filters