DetectCharucoBoard Class

Detects the interior corners of a ChArUco board in an image and estimates the board pose. More...

Declaration

class moveit_pro::behaviors::DetectCharucoBoard { ... }

Included Headers

#include <detect_charuco_board.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

	DetectCharucoBoard (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for the DetectCharucoBoard Behavior. More...

Private Member Functions Index

tl::expected< bool, std::string >	doWork () override
	Converts the input image, detects the configured ChArUco board, and estimates its pose. 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 the interior corners of a ChArUco board in an image and estimates the board pose.

Data Port Name	Port Type	Object Type
image	input	sensor_msgs::msg::Image
camera_info	input	sensor_msgs::msg::CameraInfo
board	input	moveit_studio_msgs::msg::CharucoBoard
detections	output	std::vector<moveit_pro::hand_eye_calibration::CornerObservation>
board_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 27 of file detect_charuco_board.hpp.

Public Constructors

DetectCharucoBoard()

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

Constructor for the DetectCharucoBoard Behavior.

Parameters

name	See SharedResourcesNode
config	See SharedResourcesNode
shared_resources	See SharedResourcesNode

Declaration at line 36 of file detect_charuco_board.hpp, definition at line 52 of file detect_charuco_board.cpp.

Private Member Functions

doWork()

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

virtual

Converts the input image, detects the configured ChArUco board, and estimates its pose.

Returns

True on success, or the detection error. Every corner found is written to detections; board_pose is written only when those corners yield a pose.

Declaration at line 49 of file detect_charuco_board.hpp, definition at line 89 of file detect_charuco_board.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::DetectCharucoBoard::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_charuco_board.hpp.

Private Member Attributes

future_

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

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

Definition at line 58 of file detect_charuco_board.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 41 of file detect_charuco_board.hpp, definition at line 83 of file detect_charuco_board.cpp.

providedPorts()

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

static

Declaration at line 39 of file detect_charuco_board.hpp, definition at line 58 of file detect_charuco_board.cpp.

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

• detect_charuco_board.hpp
• detect_charuco_board.cpp

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