Gets the stamped pose of the AprilTag detection closest to the center of the camera image. More...

#include <get_center_most_apriltag.hpp>

Inheritance diagram for moveit_pro::behaviors::GetCenterMostAprilTag:

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Collaboration diagram for moveit_pro::behaviors::GetCenterMostAprilTag:

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Public Member Functions
	GetCenterMostAprilTag (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, std::unique_ptr< ROSPublisherHandle > ros_publisher_interface=std::make_unique< ROSPublisherHandle >())

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

Gets the stamped pose of the AprilTag detection closest to the center of the camera image.

Given an array of AprilTag detections and camera intrinsics, this Behavior projects each detection's 3D pose into pixel coordinates and returns the pose of the detection closest to the image center. If multiple detections are equidistant, the first one encountered is returned.

Data Port Name	Port Type	Object Type
detections	input	moveit_studio_vision_msgs::msg::ObjectDetectionArray
camera_info	input	sensor_msgs::msg::CameraInfo
image	input	sensor_msgs::msg::Image (optional)
tag_size	input	double
visualization_topic	input	std::string
detection_pose	output	geometry_msgs::msg::PoseStamped

Constructor & Destructor Documentation

◆ GetCenterMostAprilTag()

moveit_pro::behaviors::GetCenterMostAprilTag::GetCenterMostAprilTag	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &	shared_resources,
		std::unique_ptr< ROSPublisherHandle >	ros_publisher_interface = `std::make_unique<ROSPublisherHandle>()`
	)

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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

static

◆ tick()

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

override

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

Public Member Functions