`GetMask2DFromRegion` Class

Converts a user-selected 2D region into a Mask2D that the 3D-lifting Behaviors consume. More...

Declaration

class moveit_pro::behaviors::GetMask2DFromRegion { ... }

Included Headers

#include <get_mask2d_from_region.hpp>

Base class

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

Public Constructors Index

	GetMask2DFromRegion (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Converts a user-selected 2D region into a Mask2D that the 3D-lifting Behaviors consume.

Thin BT wrapper over regionToMask2D(): reads the region polygon (see GetRegionFromUser), rasterizes it, and writes a single-element masks2d vector for GetMasks3DFromMasks2D (which projects it onto the camera point cloud to recover the 3D region).

Data Port Name	Port Type	Object Type
region	input	geometry_msgs::msg::PolygonStamped
camera_info	input	sensor_msgs::msg::CameraInfo
masks2d	output	std::vector<moveit_studio_vision_msgs::msg::Mask2D>

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 61 of file get_mask2d_from_region.hpp.

Public Constructors