FilterMasks2DByBoundingBox Class

Filter 2D masks based on bounding box dimensions only. More...

Declaration

class moveit_pro::behaviors::FilterMasks2DByBoundingBox { ... }

Included Headers

#include <filter_masks2d_by_bounding_box.hpp>

Base class

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

Public Constructors Index

	FilterMasks2DByBoundingBox (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

Filter 2D masks based on bounding box dimensions only.

This behavior filters a vector of Mask2D messages by computing the bounding box of each mask and checking if the dimensions fall within the specified ranges. Only masks that satisfy all bounding box constraints are included in the output.

For each Mask2D in the input vector:

• Compute bounding box using cv::boundingRect
• Check if min_width <= bbox.width <= max_width
• Check if min_height <= bbox.height <= max_height
• If all conditions pass, add to output vector

Data Port Name	Port Type	Object Type
masks	Input	std::vector<moveit_studio_vision_msgs::msg::Mask2D>
min_width	Input	int
max_width	Input	int
min_height	Input	int
max_height	Input	int
filtered_masks	Output	std::vector<moveit_studio_vision_msgs::msg::Mask2D>

Definition at line 39 of file filter_masks2d_by_bounding_box.hpp.

Public Constructors

FilterMasks2DByBoundingBox()

moveit_pro::behaviors::FilterMasks2DByBoundingBox::FilterMasks2DByBoundingBox (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources)

Declaration at line 42 of file filter_masks2d_by_bounding_box.hpp, definition at line 148 of file filter_masks2d_by_bounding_box.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::FilterMasks2DByBoundingBox::tick ()

Declaration at line 49 of file filter_masks2d_by_bounding_box.hpp, definition at line 169 of file filter_masks2d_by_bounding_box.cpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::FilterMasks2DByBoundingBox::metadata ()

static

Declaration at line 47 of file filter_masks2d_by_bounding_box.hpp, definition at line 215 of file filter_masks2d_by_bounding_box.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::FilterMasks2DByBoundingBox::providedPorts ()

static

Declaration at line 45 of file filter_masks2d_by_bounding_box.hpp, definition at line 155 of file filter_masks2d_by_bounding_box.cpp.

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

• filter_masks2d_by_bounding_box.hpp
• filter_masks2d_by_bounding_box.cpp

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