`CreateBoundingBoxFromOffset` Class

Given an exemplar image and optional padding, produce a single BoundingBox2D covering the (optionally padded) exemplar image dimensions. More...

Declaration

class moveit_pro::behaviors::CreateBoundingBoxFromOffset { ... }

Included Headers

#include <create_bounding_box_from_offset.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

	CreateBoundingBoxFromOffset (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Given an exemplar image and optional padding, produce a single BoundingBox2D covering the (optionally padded) exemplar image dimensions.

The output bounding box covers the full exemplar image with padding inset from each edge. The box is in exemplar image pixel coordinates (center + size format), ready to be passed to GetMasks2DFromExemplar via the exemplar_bboxes port.

Data Port Name	Port Type	Object Type
exemplar_image	Input	sensor_msgs::msg::Image
padding_percent	Input	double (optional, default 0.05)
bounding_boxes	Output	std::vector<vision_msgs::msg::BoundingBox2D>

Definition at line 31 of file create_bounding_box_from_offset.hpp.

Public Constructors