FindMaskedObjects Class
Finds objects by segmenting a point cloud using a set of 2D mask images. 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
| FindMaskedObjects (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources) | |
| FindMaskedObjects (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, std::unique_ptr< VisualToolsInterfaceBase > visual_tools) | |
|
Alternate constructor to allow mocking the rviz_visual_tools interface. More... | |
Private Member Functions Index
| tl::expected< bool, std::string > | doWork () override |
|
User-implemented function which handles executing the potentially-long-running process. 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... | |
| std::unique_ptr< VisualToolsInterfaceBase > | visual_tools_ |
Public Static Functions Index
| static BT::PortsList | providedPorts () |
| static BT::KeyValueVector | metadata () |
Description
Finds objects by segmenting a point cloud using a set of 2D mask images.
The output GraspableObjects will be transformed so that their parent frame is the frame defined by the base_frame config parameter.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| point_cloud | input | sensor_msgs::msg::PointCloud2 |
| camera_info | input | sensor_msgs::msg::CameraInfo |
| masks2d | input | std::vector<moveit_studio_vision_msgs::msg::Mask2D> |
| base_frame | input | std::string |
| plane_inlier_threshold | input | double |
| minimum_face_area | input | double |
| face_separation_threshold | input | double |
| detected_shapes | output | std::vector<moveit_msgs::msg::GraspableObject> |
Definition at line 32 of file find_masked_objects.hpp.
Public Constructors
FindMaskedObjects()
|
Declaration at line 35 of file find_masked_objects.hpp, definition at line 86 of file find_masked_objects.cpp.
FindMaskedObjects()
|
Alternate constructor to allow mocking the rviz_visual_tools interface.
Declaration at line 39 of file find_masked_objects.hpp, definition at line 95 of file find_masked_objects.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 48 of file find_masked_objects.hpp, definition at line 136 of file find_masked_objects.cpp.
getFuture()
| inline virtual |
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
Definition at line 50 of file find_masked_objects.hpp.
Private Member Attributes
future_
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
Definition at line 56 of file find_masked_objects.hpp.
visual_tools_
|
Definition at line 58 of file find_masked_objects.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 45 of file find_masked_objects.hpp, definition at line 130 of file find_masked_objects.cpp.
providedPorts()
| static |
Declaration at line 43 of file find_masked_objects.hpp, definition at line 102 of file find_masked_objects.cpp.
The documentation for this class was generated from the following files:
Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.