moveit_pro::behaviors::FilterMasks2DByBoundingBox Class Reference

Filter 2D masks based on bounding box dimensions only. More...

#include <filter_masks2d_by_bounding_box.hpp>

Inheritance diagram for moveit_pro::behaviors::FilterMasks2DByBoundingBox:

Collaboration diagram for moveit_pro::behaviors::FilterMasks2DByBoundingBox:

Public Member Functions
	FilterMasks2DByBoundingBox (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 > &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

Filter 2D masks based on bounding box dimensions only.

This behavior filters a vector of Mask2D messages by computing the bounding box of each mask and checking if the dimensions fall within the specified ranges. Only masks that satisfy all bounding box constraints are included in the output.

For each Mask2D in the input vector:

• Compute bounding box using cv::boundingRect
• Check if min_width <= bbox.width <= max_width
• Check if min_height <= bbox.height <= max_height
• If all conditions pass, add to output vector

Data Port Name	Port Type	Object Type
masks	Input	std::vector<moveit_studio_vision_msgs::msg::Mask2D>
min_width	Input	int
max_width	Input	int
min_height	Input	int
max_height	Input	int
filtered_masks	Output	std::vector<moveit_studio_vision_msgs::msg::Mask2D>

Constructor & Destructor Documentation

FilterMasks2DByBoundingBox()

moveit_pro::behaviors::FilterMasks2DByBoundingBox::FilterMasks2DByBoundingBox	(	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::FilterMasks2DByBoundingBox::metadata ( )

static

providedPorts()

BT::PortsList moveit_pro::behaviors::FilterMasks2DByBoundingBox::providedPorts ( )

static

tick()

BT::NodeStatus moveit_pro::behaviors::FilterMasks2DByBoundingBox::tick ( )

override

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

• filter_masks2d_by_bounding_box.hpp
• filter_masks2d_by_bounding_box.cpp