Finds the line segment that best fits a point cloud fragment. More...

#include <fit_line_segment_to_mask3d.hpp>

Inheritance diagram for moveit_studio::behaviors::FitLineSegmentToMask3D:

Collaboration diagram for moveit_studio::behaviors::FitLineSegmentToMask3D:

Public Member Functions
	FitLineSegmentToMask3D (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

	FitLineSegmentToMask3D (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources, const common::visualization::VisualizationClient &visualization_client)
	Alternate constructor to allow mocking the rviz_visual_tools interface.

Public Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
	AsyncBehaviorBase (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)

virtual	~AsyncBehaviorBase ()=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.

Public Member Functions inherited from moveit_studio::behaviors::SharedResourcesNode< BT::StatefulActionNode >
	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 ()

Protected Member Functions
tl::expected< bool, std::string >	doWork () override
	User-implemented function which handles executing the potentially-long-running process.

Protected Member Functions inherited from moveit_studio::behaviors::AsyncBehaviorBase
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.

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

Detailed Description

Finds the line segment that best fits a point cloud fragment.

The point cloud fragment is defined by a 3D mask over an input point cloud. The line parameters are estimated with the RANSAC algorithm. The RANSAC iterative process hypothesizes line models from random point subsets, selecting the hypothesis that explains the most points in the set. A point is considered explained by a line hypothesis (a.k.a. "inlier") if it is closer than a distance threshold to it. The output segment is contained in the resulting line, and is the shortest segment containing all inlier points.

Data Port Name	Port Type	Object Type
point_cloud	input	sensor_msgs::msg::PointCloud2
masks3d	input	std::vector<moveit_studio_vision_msgs::msg::Mask3D>
base_frame	input	std::string
max_distance_from_line_for_inlier	input	double
line_segment_poses	output	std::vector<geometry_msgs::msg::PoseStamped>

Constructor & Destructor Documentation

◆ FitLineSegmentToMask3D() [1/2]

moveit_studio::behaviors::FitLineSegmentToMask3D::FitLineSegmentToMask3D	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

◆ FitLineSegmentToMask3D() [2/2]

moveit_studio::behaviors::FitLineSegmentToMask3D::FitLineSegmentToMask3D	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources,
		const common::visualization::VisualizationClient &	visualization_client
	)

Alternate constructor to allow mocking the rviz_visual_tools interface.

Member Function Documentation

◆ doWork()

tl::expected< bool, std::string > moveit_studio::behaviors::FitLineSegmentToMask3D::doWork ( )

overrideprotectedvirtual

User-implemented function which handles executing the potentially-long-running process.

This function is called within an async process in a separate thread.

Returns: A tl::expected which contains a bool indicating task success if the process completed successfully or was canceled, or an error message if the process failed unexpectedly.

Implements moveit_studio::behaviors::AsyncBehaviorBase.

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::FitLineSegmentToMask3D::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::FitLineSegmentToMask3D::providedPorts ( )

static

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members