Clear stale markers (#95)

ros-perception · Jul 26, 2023 · 4ef5f0f · 4ef5f0f
1 parent a6d6777
commit 4ef5f0f
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diff --git a/vision_msgs_rviz_plugins/include/vision_msgs_rviz_plugins/bounding_box_3d_common.hpp b/vision_msgs_rviz_plugins/include/vision_msgs_rviz_plugins/bounding_box_3d_common.hpp
@@ -107,6 +107,7 @@ class BoundingBox3DCommon : public rviz_common::RosTopicDisplay<MessageType>
   void showBoxes(const BoundingBox3DArray::ConstSharedPtr & msg)
   {
     edges_.clear();
+    m_marker_common->clearMarkers();
 
     for (size_t idx = 0U; idx < msg->boxes.size(); idx++) {
       const auto marker_ptr = get_marker(msg->boxes[idx]);
@@ -125,6 +126,7 @@ class BoundingBox3DCommon : public rviz_common::RosTopicDisplay<MessageType>
   void showBoxes(const BoundingBox3D::ConstSharedPtr & msg)
   {
     edges_.clear();
+    m_marker_common->clearMarkers();
 
     const auto marker_ptr = get_marker(*msg);
     marker_ptr->header.frame_id = qPrintable(this->fixed_frame_);

diff --git a/vision_msgs_rviz_plugins/include/vision_msgs_rviz_plugins/detection_3d_common.hpp b/vision_msgs_rviz_plugins/include/vision_msgs_rviz_plugins/detection_3d_common.hpp
@@ -146,6 +146,7 @@ class Detection3DCommon : public rviz_common::RosTopicDisplay<MessageType>
     const bool show_score)
   {
     edges_.clear();
+    m_marker_common->clearMarkers();
     ClearScores(show_score);
 
     for (size_t idx = 0U; idx < msg->detections.size(); idx++) {
@@ -181,6 +182,7 @@ class Detection3DCommon : public rviz_common::RosTopicDisplay<MessageType>
   void showBoxes(const vision_msgs::msg::Detection3D::ConstSharedPtr & msg, const bool show_score)
   {
     edges_.clear();
+    m_marker_common->clearMarkers();
     ClearScores(show_score);
 
     const auto marker_ptr = get_marker(msg->bbox);