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#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