DetectAprilTags Class

Detects AprilTag markers from an image. More...

Declaration

class moveit_pro::behaviors::DetectAprilTags { ... }

Included Headers

#include <detect_apriltags.hpp>

Base class

class	AsyncBehaviorBase
	A base class for behaviors which need to asynchronously run a function that might take a long time to complete. More...

Public Constructors Index

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

Private Member Functions Index

tl::expected< bool, std::string >	doWork () override
	Instantiates an AprilTag detector and runs it on the provided image and camera information inputs. More...
std::shared_future< tl::expected< bool, std::string > > &	getFuture () override
	Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member. More...

Private Member Attributes Index

std::shared_future< tl::expected< bool, std::string > >	future_
	Classes derived from AsyncBehaviorBase must have this shared_future as a class member. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

Detects AprilTag markers from an image.

Data Port Name	Port Type	Object Type
image	input	sensor_msgs::msg::Image
camera_info	input	sensor_msgs::msg::CameraInfo
apriltag_family_name	input	std::string
tag_size	input	double
max_hamming	input	int
n_threads	input	int
quad_decimate	input	int
quad_sigma	input	double
refine_edges	input	bool
detections	output	moveit_studio_vision_msgs::msg::ObjectDetectionArray

Definition at line 34 of file detect_apriltags.hpp.

Public Constructors

DetectAprilTags()

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

Declaration at line 37 of file detect_apriltags.hpp, definition at line 44 of file detect_apriltags.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::DetectAprilTags::doWork ()

virtual

Instantiates an AprilTag detector and runs it on the provided image and camera information inputs.

Returns

Returns true if AprilTag detection ran successfully, and otherwise returns a failure.

Declaration at line 49 of file detect_apriltags.hpp, definition at line 84 of file detect_apriltags.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::DetectAprilTags::getFuture ()

inline virtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Definition at line 52 of file detect_apriltags.hpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::DetectAprilTags::future_

Classes derived from AsyncBehaviorBase must have this shared_future as a class member.

Definition at line 58 of file detect_apriltags.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::DetectAprilTags::metadata ()

static

Declaration at line 42 of file detect_apriltags.hpp, definition at line 78 of file detect_apriltags.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::DetectAprilTags::providedPorts ()

static

Declaration at line 40 of file detect_apriltags.hpp, definition at line 50 of file detect_apriltags.cpp.

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The documentation for this class was generated from the following files:

• detect_apriltags.hpp
• detect_apriltags.cpp

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