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56 changes: 56 additions & 0 deletions
56
depthai_bridge/include/depthai_bridge/TrackDetectionConverter.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| #pragma once | ||
|
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| #include <deque> | ||
| #include <memory> | ||
| #include <tuple> | ||
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| #include "depthai/pipeline/datatype/Tracklets.hpp" | ||
| #include "depthai_ros_msgs/TrackDetection2DArray.h" | ||
| #include "ros/time.h" | ||
| #include "vision_msgs/Detection2DArray.h" | ||
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| namespace dai { | ||
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| namespace ros { | ||
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| class TrackDetectionConverter { | ||
| public: | ||
| TrackDetectionConverter(std::string frameName, int width, int height, bool normalized, float thresh, bool getBaseDeviceTimestamp = false); | ||
| ~TrackDetectionConverter() = default; | ||
|
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| /** | ||
| * @brief Handles cases in which the ROS time shifts forward or backward | ||
| * Should be called at regular intervals or on-change of ROS time, depending | ||
| * on monitoring. | ||
| * | ||
| */ | ||
| void updateRosBaseTime(); | ||
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| /** | ||
| * @brief Commands the converter to automatically update the ROS base time on message conversion based on variable | ||
| * | ||
| * @param update: bool whether to automatically update the ROS base time on message conversion | ||
| */ | ||
| void setUpdateRosBaseTimeOnToRosMsg(bool update = true) { | ||
| _updateRosBaseTimeOnToRosMsg = update; | ||
| } | ||
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| void toRosMsg(std::shared_ptr<dai::Tracklets> trackData, std::deque<depthai_ros_msgs::TrackDetection2DArray>& opDetectionMsgs); | ||
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| depthai_ros_msgs::TrackDetection2DArray::Ptr toRosMsgPtr(std::shared_ptr<dai::Tracklets> trackData); | ||
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| private: | ||
| int _width, _height; | ||
| const std::string _frameName; | ||
| bool _normalized; | ||
| float _thresh; | ||
| std::chrono::time_point<std::chrono::steady_clock> _steadyBaseTime; | ||
| ::ros::Time _rosBaseTime; | ||
| bool _getBaseDeviceTimestamp; | ||
| // For handling ROS time shifts and debugging | ||
| int64_t _totalNsChange{0}; | ||
| // Whether to update the ROS base time on each message conversion | ||
| bool _updateRosBaseTimeOnToRosMsg{false}; | ||
| }; | ||
| } // namespace ros | ||
| } // namespace dai |
60 changes: 60 additions & 0 deletions
60
depthai_bridge/include/depthai_bridge/TrackSpatialDetectionConverter.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| #pragma once | ||
|
|
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| #include <deque> | ||
| #include <memory> | ||
| #include <string> | ||
|
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| #include "depthai/pipeline/datatype/Tracklets.hpp" | ||
| #include "depthai_ros_msgs/TrackDetection2DArray.h" | ||
| #include "ros/time.h" | ||
| #include "vision_msgs/Detection2DArray.h" | ||
|
|
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| namespace dai { | ||
|
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| namespace ros { | ||
|
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| class TrackSpatialDetectionConverter { | ||
| public: | ||
| TrackSpatialDetectionConverter(std::string frameName, int width, int height, bool normalized, bool getBaseDeviceTimestamp = false); | ||
| ~TrackSpatialDetectionConverter() = default; | ||
|
|
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| /** | ||
| * @brief Handles cases in which the ROS time shifts forward or backward | ||
| * Should be called at regular intervals or on-change of ROS time, depending | ||
| * on monitoring. | ||
| * | ||
| */ | ||
| void updateRosBaseTime(); | ||
|
|
||
| /** | ||
| * @brief Commands the converter to automatically update the ROS base time on message conversion based on variable | ||
| * | ||
| * @param update: bool whether to automatically update the ROS base time on message conversion | ||
| */ | ||
| void setUpdateRosBaseTimeOnToRosMsg(bool update = true) { | ||
| _updateRosBaseTimeOnToRosMsg = update; | ||
| } | ||
|
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| void toRosMsg(std::shared_ptr<dai::Tracklets> trackData, std::deque<depthai_ros_msgs::TrackDetection2DArray>& opDetectionMsgs); | ||
|
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| depthai_ros_msgs::TrackDetection2DArray::Ptr toRosMsgPtr(std::shared_ptr<dai::Tracklets> trackData); | ||
|
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| private: | ||
| int _width, _height; | ||
| const std::string _frameName; | ||
| bool _normalized; | ||
| float _thresh; | ||
| std::chrono::time_point<std::chrono::steady_clock> _steadyBaseTime; | ||
| ::ros::Time _rosBaseTime; | ||
| bool _getBaseDeviceTimestamp; | ||
| // For handling ROS time shifts and debugging | ||
| int64_t _totalNsChange{0}; | ||
| // Whether to update the ROS base time on each message conversion | ||
| bool _updateRosBaseTimeOnToRosMsg{false}; | ||
| }; | ||
|
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| } // namespace ros | ||
|
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| namespace rosBridge = ros; | ||
|
|
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| } // namespace dai |
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