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

#include <erode_mask2d.hpp>

Inheritance diagram for moveit_pro::behaviors::ErodeMask2D:

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Collaboration diagram for moveit_pro::behaviors::ErodeMask2D:

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Public Member Functions
	ErodeMask2D (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 erosion to a vector of 2D masks.

This behavior applies OpenCV's morphological erosion to each Mask2D in the input vector using a square structuring element. Each output pixel is set to the minimum value of all pixels under the kernel in the input, so any white pixel that touches background within the kernel radius is removed. This shrinks white (non-zero) regions, which is useful for removing small noise artifacts and separating touching objects.

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

◆ ErodeMask2D()

moveit_pro::behaviors::ErodeMask2D::ErodeMask2D	(	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::ErodeMask2D::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_pro::behaviors::ErodeMask2D::providedPorts ( )

static

◆ tick()

BT::NodeStatus moveit_pro::behaviors::ErodeMask2D::tick ( )

override

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

Public Member Functions

Static Public Member Functions