VisualizeCameraFrustum Class

Publishes a visualization marker showing a camera frustum as a LINE_LIST. More...

Declaration

class moveit_pro::behaviors::VisualizeCameraFrustum { ... }

Included Headers

#include <visualize_camera_frustum.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Private Member Attributes Index

std::shared_ptr< rclcpp::Publisher< visualization_msgs::msg::MarkerArray > >	marker_publisher_
std::string	marker_namespace_ = fmt::format("VisualizeCameraFrustum{}", ++instance_counter_)

Public Static Functions Index

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

Public Static Attributes Index

static constexpr auto	kPortIDCameraPose = "camera_pose"
static constexpr auto	kPortIDNearPlane = "near_plane"
static constexpr auto	kPortIDFarPlane = "far_plane"
static constexpr auto	kPortIDHorizontalFov = "horizontal_fov"
static constexpr auto	kPortIDVerticalFov = "vertical_fov"
static constexpr auto	kPortIDMarkerNamespace = "marker_namespace"

Private Static Attributes Index

static std::atomic< int >	instance_counter_ { 0 }

Description

Publishes a visualization marker showing a camera frustum as a LINE_LIST.

Visualizes a camera frustum by publishing LINE_LIST markers showing the near plane, far plane, and the four connecting edges between them. The camera pose uses the optical frame convention: Z forward (viewing direction), X right, Y down.

Each instance gets a unique marker namespace (VisualizeCameraFrustum1, VisualizeCameraFrustum2, ...) so multiple frustums can coexist without overwriting each other.

Data Port Name	Port Type	Object Type
camera_pose	input	geometry_msgs::msg::PoseStamped
near_plane	input	double
far_plane	input	double
horizontal_fov	input	double
vertical_fov	input	double
marker_namespace	input	std::string

Definition at line 41 of file visualize_camera_frustum.hpp.

Public Constructors

VisualizeCameraFrustum()

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

Declaration at line 51 of file visualize_camera_frustum.hpp, definition at line 137 of file visualize_camera_frustum.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::VisualizeCameraFrustum::tick ()

Declaration at line 58 of file visualize_camera_frustum.hpp, definition at line 166 of file visualize_camera_frustum.cpp.

Private Member Attributes

marker_namespace_

std::string moveit_pro::behaviors::VisualizeCameraFrustum::marker_namespace_ = fmt::format("VisualizeCameraFrustum{}", ++instance_counter_)

Definition at line 65 of file visualize_camera_frustum.hpp.

marker_publisher_

std::shared_ptr<rclcpp::Publisher<visualization_msgs::msg::MarkerArray> > moveit_pro::behaviors::VisualizeCameraFrustum::marker_publisher_

Definition at line 62 of file visualize_camera_frustum.hpp.

Public Static Functions

metadata()

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

static

Declaration at line 56 of file visualize_camera_frustum.hpp, definition at line 160 of file visualize_camera_frustum.cpp.

providedPorts()

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

static

Declaration at line 54 of file visualize_camera_frustum.hpp, definition at line 145 of file visualize_camera_frustum.cpp.

Public Static Attributes

kPortIDCameraPose

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDCameraPose = "camera_pose"

constexpr static

Definition at line 44 of file visualize_camera_frustum.hpp.

kPortIDFarPlane

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDFarPlane = "far_plane"

constexpr static

Definition at line 46 of file visualize_camera_frustum.hpp.

kPortIDHorizontalFov

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDHorizontalFov = "horizontal_fov"

constexpr static

Definition at line 47 of file visualize_camera_frustum.hpp.

kPortIDMarkerNamespace

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDMarkerNamespace = "marker_namespace"

constexpr static

Definition at line 49 of file visualize_camera_frustum.hpp.

kPortIDNearPlane

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDNearPlane = "near_plane"

constexpr static

Definition at line 45 of file visualize_camera_frustum.hpp.

kPortIDVerticalFov

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDVerticalFov = "vertical_fov"

constexpr static

Definition at line 48 of file visualize_camera_frustum.hpp.

Private Static Attributes

instance_counter_

std::atomic< int > moveit_pro::behaviors::VisualizeCameraFrustum::instance_counter_ { 0 }

static

Definition at line 68 of file visualize_camera_frustum.hpp.

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

• visualize_camera_frustum.hpp
• visualize_camera_frustum.cpp

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