Detects the interior corners of a ChArUco board in an image and estimates the board pose. More...

#include <detect_charuco_board.hpp>

Inheritance diagram for moveit_pro::behaviors::DetectCharucoBoard:

[legend]

Collaboration diagram for moveit_pro::behaviors::DetectCharucoBoard:

[legend]

Public Member Functions
	DetectCharucoBoard (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for the DetectCharucoBoard Behavior.

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

	~AsyncBehaviorBase () override=default

BT::NodeStatus	onStart () override
	Required implementation of BT::StatefulActionNode::onStart().

BT::NodeStatus	onRunning () override
	Required implementation of BT::StatefulActionNode::onRunning().

void	onHalted () override
	Required implementation of BT::StatefulActionNode::onHalted().

void	resetStatus ()
	Resets the internal status of this node.

virtual tl::expected< void, std::string >	doHalt ()
	Optionally implement additional work needed to cleanly interrupt the async process.

void	notifyCanHalt ()
	Called when runAsync() finishes to notify onHalted() that the async process has finished.

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

const std::shared_ptr< BehaviorContext > &	getBehaviorContext () const

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

static BT::KeyValueVector	metadata ()

Detailed Description

Detects the interior corners of a ChArUco board in an image and estimates the board pose.

Data Port Name	Port Type	Object Type
image	input	sensor_msgs::msg::Image
camera_info	input	sensor_msgs::msg::CameraInfo
squares_x	input	int
squares_y	input	int
square_length	input	double
marker_length	input	double
dictionary_id	input	int
detections	output	std::vector<moveit_pro::hand_eye_calibration::CornerObservation>
board_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

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

Constructor for the DetectCharucoBoard Behavior.

Parameters

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

static

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

static

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