GetPoseFromPixelCoords Class
Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates. 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
| GetPoseFromPixelCoords (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
Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates.
This assumes that the pixel XY coordinates are normalized, i.e., have values in the range [0..1] relative to the image's height and width. Additionally, the output pose always aligns the Z axis with the normal of the plane by using the smallest eigenvalue of a planar patch with radius neighbor_radius around a selected point.
| Data Port Name | Port Type | Object Type |
|---|---|---|
| point_cloud | input | sensor_msgs::msg::PointCloud2 |
| pixel_coords | input | std::vector<geometry_msgs::msg::PointStamped> |
| downsample_fraction | input | double |
| neighbor_radius | input | double |
| output_poses | output | std::vector<geometry_msgs::msg::PoseStamped> |
Definition at line 31 of file get_pose_from_pixel_coords.hpp.
Public Constructors
GetPoseFromPixelCoords()
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Declaration at line 34 of file get_pose_from_pixel_coords.hpp, definition at line 54 of file get_pose_from_pixel_coords.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 42 of file get_pose_from_pixel_coords.hpp, definition at line 85 of file get_pose_from_pixel_coords.cpp.
getFuture()
| inline virtual |
Classes derived from AsyncBehaviorBase must implement getFuture() so that it returns a shared_future class member.
Definition at line 44 of file get_pose_from_pixel_coords.hpp.
Private Member Attributes
future_
|
Classes derived from AsyncBehaviorBase must have this shared_future as a class member.
Definition at line 50 of file get_pose_from_pixel_coords.hpp.
Public Static Functions
metadata()
| static |
Declaration at line 39 of file get_pose_from_pixel_coords.hpp, definition at line 79 of file get_pose_from_pixel_coords.cpp.
providedPorts()
| static |
Declaration at line 37 of file get_pose_from_pixel_coords.hpp, definition at line 60 of file get_pose_from_pixel_coords.cpp.
The documentation for this class was generated from the following files:
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