Apply morphological dilation to a vector of 2D masks. More...

#include <dilate_mask2d.hpp>

Inheritance diagram for moveit_pro::behaviors::DilateMask2D:

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Collaboration diagram for moveit_pro::behaviors::DilateMask2D:

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Public Member Functions
	DilateMask2D (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

Apply morphological dilation to a vector of 2D masks.

This behavior applies OpenCV's morphological dilation to each Mask2D in the input vector using a square structuring element. Each output pixel is set to the maximum value of all pixels under the kernel in the input, so any background pixel that touches a white pixel within the kernel radius becomes white. This expands white (non-zero) regions, which is useful for filling small holes, connecting nearby regions, and making mask boundaries more inclusive.

Data Port Name	Port Type	Object Type
masks	Input	std::vector<moveit_studio_vision_msgs::msg::Mask2D>
kernel_size	Input	int
iterations	Input	int
dilated_masks	Output	std::vector<moveit_studio_vision_msgs::msg::Mask2D>

See also: https://docs.opencv.org/3.4/db/df6/tutorial_erosion_dilatation.html

Constructor & Destructor Documentation

◆ DilateMask2D()

moveit_pro::behaviors::DilateMask2D::DilateMask2D	(	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::DilateMask2D::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_pro::behaviors::DilateMask2D::providedPorts ( )

static

◆ tick()

BT::NodeStatus moveit_pro::behaviors::DilateMask2D::tick ( )

override

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

Public Member Functions

Static Public Member Functions