Given an exemplar image and optional padding, produce a single BoundingBox2D covering the (optionally padded) exemplar image dimensions. More...

#include <create_bounding_box_from_offset.hpp>

Inheritance diagram for moveit_pro::behaviors::CreateBoundingBoxFromOffset:

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Collaboration diagram for moveit_pro::behaviors::CreateBoundingBoxFromOffset:

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Public Member Functions
	CreateBoundingBoxFromOffset (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

BT::NodeStatus	tick () override

Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Given an exemplar image and optional padding, produce a single BoundingBox2D covering the (optionally padded) exemplar image dimensions.

The output bounding box covers the full exemplar image with padding inset from each edge. The box is in exemplar image pixel coordinates (center + size format), ready to be passed to GetMasks2DFromExemplar via the exemplar_bboxes port.

Data Port Name	Port Type	Object Type
exemplar_image	Input	sensor_msgs::msg::Image
padding_percent	Input	double (optional, default 0.05)
bounding_boxes	Output	std::vector<vision_msgs::msg::BoundingBox2D>

Constructor & Destructor Documentation

◆ CreateBoundingBoxFromOffset()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions

Static Public Member Functions