moveit_pro::behaviors::VisualizeCameraFrustum Class Reference

Publishes a visualization marker showing a camera frustum as a LINE_LIST. More...

#include <visualize_camera_frustum.hpp>

Inheritance diagram for moveit_pro::behaviors::VisualizeCameraFrustum:

Collaboration diagram for moveit_pro::behaviors::VisualizeCameraFrustum:

Public Member Functions
	VisualizeCameraFrustum (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< 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 ()

Static Public Attributes
static constexpr auto	kPortIDCameraPose = "camera_pose"
static constexpr auto	kPortIDNearPlane = "near_plane"
static constexpr auto	kPortIDFarPlane = "far_plane"
static constexpr auto	kPortIDHorizontalFov = "horizontal_fov"
static constexpr auto	kPortIDVerticalFov = "vertical_fov"
static constexpr auto	kPortIDMarkerNamespace = "marker_namespace"

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Publishes a visualization marker showing a camera frustum as a LINE_LIST.

Visualizes a camera frustum by publishing LINE_LIST markers showing the near plane, far plane, and the four connecting edges between them. The camera pose uses the optical frame convention: Z forward (viewing direction), X right, Y down.

Each instance gets a unique marker namespace (VisualizeCameraFrustum1, VisualizeCameraFrustum2, ...) so multiple frustums can coexist without overwriting each other.

Data Port Name	Port Type	Object Type
camera_pose	input	geometry_msgs::msg::PoseStamped
near_plane	input	double
far_plane	input	double
horizontal_fov	input	double
vertical_fov	input	double
marker_namespace	input	std::string

Constructor & Destructor Documentation

VisualizeCameraFrustum()

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

Member Function Documentation

metadata()

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

static

providedPorts()

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

static

tick()

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

override

Member Data Documentation

kPortIDCameraPose

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDCameraPose = "camera_pose"

staticconstexpr

kPortIDFarPlane

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDFarPlane = "far_plane"

staticconstexpr

kPortIDHorizontalFov

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDHorizontalFov = "horizontal_fov"

staticconstexpr

kPortIDMarkerNamespace

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDMarkerNamespace = "marker_namespace"

staticconstexpr

kPortIDNearPlane

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDNearPlane = "near_plane"

staticconstexpr

kPortIDVerticalFov

constexpr auto moveit_pro::behaviors::VisualizeCameraFrustum::kPortIDVerticalFov = "vertical_fov"

staticconstexpr

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

• visualize_camera_frustum.hpp
• visualize_camera_frustum.cpp