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
squares_x	input	int
squares_y	input	int
square_length	input	double
marker_length	input	double
dictionary_id	input	int
detections	output	std::vector<moveit_pro::hand_eye_calibration::CornerObservation>
board_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 31 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 40 of file detect_charuco_board.hpp, definition at line 49 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. A board that is not visible in the image is a failure, which collection loops treat as "no sample at this configuration".

Declaration at line 53 of file detect_charuco_board.hpp, definition at line 91 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 56 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 62 of file detect_charuco_board.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 45 of file detect_charuco_board.hpp, definition at line 85 of file detect_charuco_board.cpp.

providedPorts()

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

static

Declaration at line 43 of file detect_charuco_board.hpp, definition at line 55 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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