`TrimPointcloudSurface` Class

Trims a point cloud to contain only points within a quadrilateral boundary defined by 4 waypoints. More...

Declaration

class moveit_pro::behaviors::TrimPointcloudSurface { ... }

Included Headers

#include <trim_pointcloud_surface.hpp>

Base class

class	BT::SyncActionNode

Public Constructors Index

	TrimPointcloudSurface (const std::string &name, const BT::NodeConfiguration &config)
	Constructor. More...

Public Member Functions Index

BT::NodeStatus	tick () override
	Execute the behavior: trim the point cloud to the quadrilateral boundary. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Declare input and output ports. More...

static BT::KeyValueVector	metadata ()
	Provide metadata for the MoveIt Studio Developer Tool UI. More...

Description

Trims a point cloud to contain only points within a quadrilateral boundary defined by 4 waypoints.

The behavior fits a plane to the 4 boundary waypoints using SVD, projects both the waypoints and all cloud points onto that plane, and retains only the points whose 2D projections fall inside the resulting quadrilateral polygon.

Data Port Name	Port Type	Object Type
waypoints	input	std::vector<geometry_msgs::msg::PoseStamped>
point_cloud	input	sensor_msgs::msg::PointCloud2
trimmed_point_cloud	output	sensor_msgs::msg::PointCloud2

Definition at line 30 of file trim_pointcloud_surface.hpp.

Public Constructors