Function trackingCallback

opt_utils/apps/ros2udp_converter.cpp:70–133

using namespace open_ptrack::bpe;

void
trackingCallback(const opt_msgs::TrackArray::ConstPtr& tracking_msg)
{
  if (facetracksflag == 1)
  {
    return;
  }
  /// Create JSON-formatted message:
  Jzon::Object root, header, stamp;

  /// Add header (84 characters):
  header.Add("seq", int(tracking_msg->header.seq));
  stamp.Add("sec", int(tracking_msg->header.stamp.sec));
  stamp.Add("nsec", int(tracking_msg->header.stamp.nsec));
  header.Add("stamp", stamp);
  std::string camera_name = tracking_msg->header.frame_id;
    if (strcmp(camera_name.substr(0,1).c_str(), "/") == 0)  // Remove bar at the beginning
    {
      camera_name = camera_name.substr(1, camera_name.size() - 1);
    }
  header.Add("frame_id", camera_name);
  root.Add("header", header);

  /// Add tracks array:
  // >50 characters for every track
  Jzon::Array tracks;
  for (unsigned int i = 0; i < tracking_msg->tracks.size(); i++)
  {
    Jzon::Object current_track;
    current_track.Add("id", tracking_msg->tracks[i].id);
    current_track.Add("x", tracking_msg->tracks[i].x);
    current_track.Add("y", tracking_msg->tracks[i].y);
    current_track.Add("height", tracking_msg->tracks[i].height);
    current_track.Add("age", tracking_msg->tracks[i].age);
    current_track.Add("confidence", tracking_msg->tracks[i].confidence);

    tracks.Add(current_track);
  }
  root.Add("people_tracks", tracks);

  /// Convert JSON object to string:
  Jzon::Format message_format = Jzon::StandardFormat;
  message_format.indentSize = json_indent_size;
  message_format.newline = json_newline;
  message_format.spacing = json_spacing;
  message_format.useTabs = json_use_tabs;
  Jzon::Writer writer(root, message_format);
  writer.Write();
  std::string json_string = writer.GetResult();
  //  std::cout << "String sent: " << json_string << std::endl;

  /// Copy string to message buffer:
  udp_data.si_num_byte_ = json_string.length()+1;
  char buf[udp_data.si_num_byte_];
  for (unsigned int i = 0; i < udp_data.si_num_byte_; i++)
  {
    buf[i] = 0;
  }