.. _program_listing_file__tmp_ws_src_depthai-ros_depthai_ros_driver_include_depthai_ros_driver_dai_nodes_nn_spatial_detection.hpp:

Program Listing for File spatial_detection.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_depthai-ros_depthai_ros_driver_include_depthai_ros_driver_dai_nodes_nn_spatial_detection.hpp>` (``/tmp/ws/src/depthai-ros/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/spatial_detection.hpp``)

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

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "camera_info_manager/camera_info_manager.hpp"
   #include "depthai-shared/common/CameraBoardSocket.hpp"
   #include "depthai/device/DataQueue.hpp"
   #include "depthai/device/Device.hpp"
   #include "depthai/pipeline/Pipeline.hpp"
   #include "depthai/pipeline/node/ImageManip.hpp"
   #include "depthai/pipeline/node/SpatialDetectionNetwork.hpp"
   #include "depthai/pipeline/node/XLinkOut.hpp"
   #include "depthai_bridge/ImageConverter.hpp"
   #include "depthai_bridge/SpatialDetectionConverter.hpp"
   #include "depthai_ros_driver/dai_nodes/base_node.hpp"
   #include "depthai_ros_driver/dai_nodes/nn/nn_helpers.hpp"
   #include "depthai_ros_driver/dai_nodes/sensors/sensor_helpers.hpp"
   #include "depthai_ros_driver/param_handlers/nn_param_handler.hpp"
   #include "depthai_ros_driver/utils.hpp"
   #include "image_transport/camera_publisher.hpp"
   #include "image_transport/image_transport.hpp"
   #include "rclcpp/node.hpp"
   
   namespace depthai_ros_driver {
   namespace dai_nodes {
   namespace nn {
   template <typename T>
   class SpatialDetection : public BaseNode {
      public:
       SpatialDetection(const std::string& daiNodeName,
                        rclcpp::Node* node,
                        std::shared_ptr<dai::Pipeline> pipeline,
                        const dai::CameraBoardSocket& socket = dai::CameraBoardSocket::CAM_A)
           : BaseNode(daiNodeName, node, pipeline) {
           RCLCPP_DEBUG(node->get_logger(), "Creating node %s", daiNodeName.c_str());
           setNames();
           spatialNode = pipeline->create<T>();
           imageManip = pipeline->create<dai::node::ImageManip>();
           ph = std::make_unique<param_handlers::NNParamHandler>(node, daiNodeName, socket);
           ph->declareParams(spatialNode, imageManip);
           RCLCPP_DEBUG(node->get_logger(), "Node %s created", daiNodeName.c_str());
           imageManip->out.link(spatialNode->input);
           setXinXout(pipeline);
       }
       ~SpatialDetection() = default;
       void updateParams(const std::vector<rclcpp::Parameter>& params) override {
           ph->setRuntimeParams(params);
       };
       void setupQueues(std::shared_ptr<dai::Device> device) override {
           nnQ = device->getOutputQueue(nnQName, ph->getParam<int>("i_max_q_size"), false);
           std::string socketName = utils::getSocketName(static_cast<dai::CameraBoardSocket>(ph->getParam<int>("i_board_socket_id")));
           auto tfPrefix = getTFPrefix(socketName);
           int width;
           int height;
           if(ph->getParam<bool>("i_disable_resize")) {
               width = ph->getOtherNodeParam<int>(socketName, "i_preview_width");
               height = ph->getOtherNodeParam<int>(socketName, "i_preview_height");
           } else {
               width = imageManip->initialConfig.getResizeConfig().width;
               height = imageManip->initialConfig.getResizeConfig().height;
           }
           detConverter = std::make_unique<dai::ros::SpatialDetectionConverter>(
               tfPrefix + "_camera_optical_frame", width, height, false, ph->getParam<bool>("i_get_base_device_timestamp"));
           detConverter->setUpdateRosBaseTimeOnToRosMsg(ph->getParam<bool>("i_update_ros_base_time_on_ros_msg"));
           nnQ->addCallback(std::bind(&SpatialDetection::spatialCB, this, std::placeholders::_1, std::placeholders::_2));
           rclcpp::PublisherOptions options;
           options.qos_overriding_options = rclcpp::QosOverridingOptions();
           detPub = getROSNode()->template create_publisher<vision_msgs::msg::Detection3DArray>("~/" + getName() + "/spatial_detections", 10, options);
   
           if(ph->getParam<bool>("i_enable_passthrough")) {
               ptQ = device->getOutputQueue(ptQName, ph->getParam<int>("i_max_q_size"), false);
               ptImageConverter = std::make_unique<dai::ros::ImageConverter>(tfPrefix + "_camera_optical_frame", false);
               ptImageConverter->setUpdateRosBaseTimeOnToRosMsg(ph->getParam<bool>("i_update_ros_base_time_on_ros_msg"));
               ptInfoMan = std::make_shared<camera_info_manager::CameraInfoManager>(
                   getROSNode()->create_sub_node(std::string(getROSNode()->get_name()) + "/" + getName()).get(), "/" + getName());
               ptInfoMan->setCameraInfo(sensor_helpers::getCalibInfo(getROSNode()->get_logger(),
                                                                     *ptImageConverter,
                                                                     device,
                                                                     static_cast<dai::CameraBoardSocket>(ph->getParam<int>("i_board_socket_id")),
                                                                     width,
                                                                     height));
   
               ptPub = image_transport::create_camera_publisher(getROSNode(), "~/" + getName() + "/passthrough/image_raw");
               ptQ->addCallback(std::bind(sensor_helpers::basicCameraPub, std::placeholders::_1, std::placeholders::_2, *ptImageConverter, ptPub, ptInfoMan));
           }
   
           if(ph->getParam<bool>("i_enable_passthrough_depth")) {
               dai::CameraBoardSocket socket = static_cast<dai::CameraBoardSocket>(ph->getOtherNodeParam<int>("stereo", "i_board_socket_id"));
               if(!ph->getOtherNodeParam<bool>("stereo", "i_align_depth")) {
                   tfPrefix = getTFPrefix("right");
               };
               ptDepthQ = device->getOutputQueue(ptDepthQName, ph->getParam<int>("i_max_q_size"), false);
               ptDepthImageConverter = std::make_unique<dai::ros::ImageConverter>(tfPrefix + "_camera_optical_frame", false);
               ptDepthImageConverter->setUpdateRosBaseTimeOnToRosMsg(ph->getParam<bool>("i_update_ros_base_time_on_ros_msg"));
               ptDepthInfoMan = std::make_shared<camera_info_manager::CameraInfoManager>(
                   getROSNode()->create_sub_node(std::string(getROSNode()->get_name()) + "/" + getName()).get(), "/" + getName());
               ptDepthInfoMan->setCameraInfo(sensor_helpers::getCalibInfo(getROSNode()->get_logger(),
                                                                          *ptDepthImageConverter,
                                                                          device,
                                                                          socket,
                                                                          ph->getOtherNodeParam<int>("stereo", "i_width"),
                                                                          ph->getOtherNodeParam<int>("stereo", "i_height")));
   
               ptDepthPub = image_transport::create_camera_publisher(getROSNode(), "~/" + getName() + "/passthrough_depth/image_raw");
               ptDepthQ->addCallback(
                   std::bind(sensor_helpers::basicCameraPub, std::placeholders::_1, std::placeholders::_2, *ptDepthImageConverter, ptDepthPub, ptDepthInfoMan));
           }
       };
       void link(dai::Node::Input in, int /*linkType = 0*/) override {
           spatialNode->out.link(in);
       };
       dai::Node::Input getInput(int linkType = 0) override {
           if(linkType == static_cast<int>(nn_helpers::link_types::SpatialNNLinkType::input)) {
               if(ph->getParam<bool>("i_disable_resize")) {
                   return spatialNode->input;
               }
               return imageManip->inputImage;
           } else {
               return spatialNode->inputDepth;
           }
       };
       void setNames() override {
           nnQName = getName() + "_nn";
           ptQName = getName() + "_pt";
           ptDepthQName = getName() + "_pt_depth";
       };
       void setXinXout(std::shared_ptr<dai::Pipeline> pipeline) override {
           xoutNN = pipeline->create<dai::node::XLinkOut>();
           xoutNN->setStreamName(nnQName);
           spatialNode->out.link(xoutNN->input);
           if(ph->getParam<bool>("i_enable_passthrough")) {
               xoutPT = pipeline->create<dai::node::XLinkOut>();
               xoutPT->setStreamName(ptQName);
               spatialNode->passthrough.link(xoutPT->input);
           }
           if(ph->getParam<bool>("i_enable_passthrough_depth")) {
               xoutPTDepth = pipeline->create<dai::node::XLinkOut>();
               xoutPTDepth->setStreamName(ptDepthQName);
               spatialNode->passthroughDepth.link(xoutPTDepth->input);
           }
       };
       void closeQueues() override {
           nnQ->close();
           if(ph->getParam<bool>("i_enable_passthrough")) {
               ptQ->close();
           }
           if(ph->getParam<bool>("i_enable_passthrough_depth")) {
               ptDepthQ->close();
           }
       };
   
      private:
       void spatialCB(const std::string& /*name*/, const std::shared_ptr<dai::ADatatype>& data) {
           auto inDet = std::dynamic_pointer_cast<dai::SpatialImgDetections>(data);
           std::deque<vision_msgs::msg::Detection3DArray> deq;
           detConverter->toRosVisionMsg(inDet, deq);
           while(deq.size() > 0) {
               auto currMsg = deq.front();
               detPub->publish(currMsg);
               deq.pop_front();
           }
       };
       std::unique_ptr<dai::ros::SpatialDetectionConverter> detConverter;
       std::vector<std::string> labelNames;
       rclcpp::Publisher<vision_msgs::msg::Detection3DArray>::SharedPtr detPub;
       std::unique_ptr<dai::ros::ImageConverter> ptImageConverter, ptDepthImageConverter;
       image_transport::CameraPublisher ptPub, ptDepthPub;
       sensor_msgs::msg::CameraInfo ptInfo, ptDepthInfo;
       std::shared_ptr<camera_info_manager::CameraInfoManager> ptInfoMan, ptDepthInfoMan;
       std::shared_ptr<T> spatialNode;
       std::shared_ptr<dai::node::ImageManip> imageManip;
       std::unique_ptr<param_handlers::NNParamHandler> ph;
       std::shared_ptr<dai::DataOutputQueue> nnQ, ptQ, ptDepthQ;
       std::shared_ptr<dai::node::XLinkOut> xoutNN, xoutPT, xoutPTDepth;
       std::string nnQName, ptQName, ptDepthQName;
   };
   
   }  // namespace nn
   }  // namespace dai_nodes
   }  // namespace depthai_ros_driver