add missing fields, remove deprecated definitions (#574)

luxonis · Aug 14, 2024 · 090a291 · 090a291
1 parent 82ce67c
commit 090a291
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 22 deletions.
diff --git a/depthai_bridge/src/ImgDetectionConverter.cpp b/depthai_bridge/src/ImgDetectionConverter.cpp
@@ -61,21 +61,11 @@ void ImgDetectionConverter::toRosMsg(std::shared_ptr<dai::ImgDetections> inNetDa
 
         opDetectionMsg.detections[i].results.resize(1);
 
-#if defined(IS_GALACTIC) || defined(IS_HUMBLE)
         opDetectionMsg.detections[i].id = std::to_string(inNetData->detections[i].label);
         opDetectionMsg.detections[i].results[0].hypothesis.class_id = std::to_string(inNetData->detections[i].label);
         opDetectionMsg.detections[i].results[0].hypothesis.score = inNetData->detections[i].confidence;
-#elif IS_ROS2
-        opDetectionMsg.detections[i].results[0].id = std::to_string(inNetData->detections[i].label);
-        opDetectionMsg.detections[i].results[0].score = inNetData->detections[i].confidence;
-#endif
-#ifdef IS_HUMBLE
         opDetectionMsg.detections[i].bbox.center.position.x = xCenter;
         opDetectionMsg.detections[i].bbox.center.position.y = yCenter;
-#else
-        opDetectionMsg.detections[i].bbox.center.x = xCenter;
-        opDetectionMsg.detections[i].bbox.center.y = yCenter;
-#endif
         opDetectionMsg.detections[i].bbox.size_x = xSize;
         opDetectionMsg.detections[i].bbox.size_y = ySize;
     }
@@ -96,4 +86,4 @@ Detection2DArrayPtr ImgDetectionConverter::toRosMsgPtr(std::shared_ptr<dai::ImgD
 }
 
 }  // namespace ros
-}  // namespace dai
+}  // namespace dai
diff --git a/depthai_bridge/src/SpatialDetectionConverter.cpp b/depthai_bridge/src/SpatialDetectionConverter.cpp
@@ -59,19 +59,11 @@ void SpatialDetectionConverter::toRosMsg(std::shared_ptr<dai::SpatialImgDetectio
         float yCenter = yMin + ySize / 2;
         opDetectionMsg.detections[i].results.resize(1);
 
-#if defined(IS_GALACTIC) || defined(IS_HUMBLE)
         opDetectionMsg.detections[i].results[0].class_id = std::to_string(inNetData->detections[i].label);
-#elif IS_ROS2
-        opDetectionMsg.detections[i].results[0].id = std::to_string(inNetData->detections[i].label);
         opDetectionMsg.detections[i].results[0].score = inNetData->detections[i].confidence;
-#endif
-#ifdef IS_HUMBLE
-        opDetectionMsg.detections[i].bbox.center.position.x = xCenter;
+
+		opDetectionMsg.detections[i].bbox.center.position.x = xCenter;
         opDetectionMsg.detections[i].bbox.center.position.y = yCenter;
-#else
-        opDetectionMsg.detections[i].bbox.center.x = xCenter;
-        opDetectionMsg.detections[i].bbox.center.y = yCenter;
-#endif
         opDetectionMsg.detections[i].bbox.size_x = xSize;
         opDetectionMsg.detections[i].bbox.size_y = ySize;
 
@@ -148,4 +140,4 @@ void SpatialDetectionConverter::toRosVisionMsg(std::shared_ptr<dai::SpatialImgDe
 }
 
 }  // namespace ros
-}  // namespace dai
+}  // namespace dai