Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates. More...

#include <get_pose_from_pixel_coords.hpp>

Inheritance diagram for moveit_pro::behaviors::GetPoseFromPixelCoords:

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Collaboration diagram for moveit_pro::behaviors::GetPoseFromPixelCoords:

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Public Member Functions
	GetPoseFromPixelCoords (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

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

Given an ordered point cloud and normalized pixel XY coordinates, outputs a stamped pose corresponding to a point normal to the selected coordinates.

This assumes that the pixel XY coordinates are normalized, i.e., have values in the range [0..1] relative to the image's height and width. Additionally, the output pose always aligns the Z axis with the normal of the plane by using the smallest eigenvalue of a planar patch with radius neighbor_radius around a selected point.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
pixel_coords	input	std::vector<geometry_msgs::msg::PointStamped>
downsample_fraction	input	double
neighbor_radius	input	double
output_poses	output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

◆ GetPoseFromPixelCoords()

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

Member Function Documentation

◆ metadata()

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

static

◆ providedPorts()

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