GetMasks3DFromMasks2D Class

Backprojects a number of image masks onto a point cloud with a camera model. More...

Declaration

class moveit_pro::behaviors::GetMasks3DFromMasks2D { ... }

Included Headers

#include <get_masks3d_from_masks2d.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

	GetMasks3DFromMasks2D (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
	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...

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

Backprojects a number of image masks onto a point cloud with a camera model.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
masks2d	input	std::vector<moveit_studio_vision_msgs::msg::Mask2D>
camera_info	input	sensor_msgs::msg::CameraInfo
masks3d	output	std::vector<moveit_studio_vision_msgs::msg::Mask3D>

Definition at line 25 of file get_masks3d_from_masks2d.hpp.

Public Constructors

GetMasks3DFromMasks2D()

moveit_pro::behaviors::GetMasks3DFromMasks2D::GetMasks3DFromMasks2D (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< BehaviorContext > & shared_resources)

Declaration at line 28 of file get_masks3d_from_masks2d.hpp, definition at line 47 of file get_masks3d_from_masks2d.cpp.

Private Member Functions

doWork()

tl::expected< bool, std::string > moveit_pro::behaviors::GetMasks3DFromMasks2D::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 36 of file get_masks3d_from_masks2d.hpp, definition at line 74 of file get_masks3d_from_masks2d.cpp.

getFuture()

std::shared_future< tl::expected< bool, std::string > > & moveit_pro::behaviors::GetMasks3DFromMasks2D::getFuture ()

inline virtual

Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.

Definition at line 38 of file get_masks3d_from_masks2d.hpp.

Private Member Attributes

future_

std::shared_future<tl::expected<bool, std::string> > moveit_pro::behaviors::GetMasks3DFromMasks2D::future_

Classes derived from AsyncBehaviorBase must have this shared_future as a class member.

Definition at line 44 of file get_masks3d_from_masks2d.hpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::GetMasks3DFromMasks2D::metadata ()

static

Declaration at line 33 of file get_masks3d_from_masks2d.hpp, definition at line 68 of file get_masks3d_from_masks2d.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::GetMasks3DFromMasks2D::providedPorts ()

static

Declaration at line 31 of file get_masks3d_from_masks2d.hpp, definition at line 53 of file get_masks3d_from_masks2d.cpp.

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

• get_masks3d_from_masks2d.hpp
• get_masks3d_from_masks2d.cpp

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