ExtractDominantPlaneFromPointCloud Class
Keeps only the points of a cloud that lie on its single largest flat surface. More...
Declaration
Included Headers
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
| ExtractDominantPlaneFromPointCloud (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 |
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User-implemented function which handles executing the potentially-long-running process. More... | |
| std::shared_future< tl::expected< bool, std::string > > & | getFuture () override |
|
Gets the shared future which is used to monitor the progress of the async process. More... | |
Private Member Attributes Index
| std::shared_future< tl::expected< bool, std::string > > | future_ |
Public Static Functions Index
| static BT::PortsList | providedPorts () |
| static BT::KeyValueVector | metadata () |
Description
Keeps only the points of a cloud that lie on its single largest flat surface.
Fits a plane with RANSAC and outputs its inliers. A region an operator selects on a camera image rarely stops at the edge of the surface they meant: it also catches the object's sides and whatever lies behind it. A plane fitted through all of that tilts away from the real surface, and a coverage path built on it neither follows the surface nor holds its standoff. Filtering to the dominant plane first leaves the surface itself.
Fails when no plane holds at least min_inlier_fraction of the points. That share only says how large the largest plane is, never whether it is the surface the operator meant, so keep it low enough to admit a selection that also caught the target's sides.
The output is a slab about two inlier tolerances thick, so a box fitted to it carries that thickness. Downstream Behaviors that measure a standoff from the box's face — GenerateSurfaceCoveragePath does — therefore hold the tool roughly one inlier tolerance further from the surface than asked, which moves if the tolerance is changed.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| point_cloud | input | sensor_msgs::msg::PointCloud2 |
| inlier_tolerance | input | double |
| min_inlier_fraction | input | double |
| plane_point_cloud | output | sensor_msgs::msg::PointCloud2 |
- Parameters
-
name The name of this Behavior.
config The configuration options for this Behavior.
shared_resources The shared resources common to all Behaviors.
Definition at line 48 of file extract_dominant_plane_from_pointcloud.hpp.
Public Constructors
ExtractDominantPlaneFromPointCloud()
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Declaration at line 51 of file extract_dominant_plane_from_pointcloud.hpp, definition at line 52 of file extract_dominant_plane_from_pointcloud.cpp.
Private Member Functions
doWork()
| virtual |
User-implemented function which handles executing the potentially-long-running process.
This function is called within an async process in a separate thread.
- Returns
A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.
Declaration at line 59 of file extract_dominant_plane_from_pointcloud.hpp, definition at line 83 of file extract_dominant_plane_from_pointcloud.cpp.
getFuture()
| inline virtual |
Gets the shared future which is used to monitor the progress of the async process.
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
This exists to prevent destruction of the derived class while the async process is still in-progress. If the derived class is destroyed, the definitions of the functions used within doWork() will be destroyed too, which will result in the virtual functions in the base class being called instead and cause a fault.
This function will force derived classes to add an instance of this type and return a reference to it. The base class can then use this virtual function to access the shared future in functions like onStart.
By adding this virtual function we're properly demonstrating how this future depends on things from the derived class and the natural flow of object lifetimes will do the hard work for us. The std::shared_future destructor will get the value of the future before the derived class is destructed assuming it's the last reference to the shared state. Doing it this way means neither the base nor derived class should need to implement a destructor which is a nice property to have.
- Returns
Returns the shared_future, which should be owned by the child class.
Definition at line 60 of file extract_dominant_plane_from_pointcloud.hpp.
Private Member Attributes
future_
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Definition at line 64 of file extract_dominant_plane_from_pointcloud.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 56 of file extract_dominant_plane_from_pointcloud.hpp, definition at line 77 of file extract_dominant_plane_from_pointcloud.cpp.
providedPorts()
| static |
Declaration at line 54 of file extract_dominant_plane_from_pointcloud.hpp, definition at line 59 of file extract_dominant_plane_from_pointcloud.cpp.
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