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>
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_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
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_studio::behaviors::GetPoseFromPixelCoords::GetPoseFromPixelCoords | ( | const std::string & | name, |
| const BT::NodeConfiguration & | config, | ||
| const std::shared_ptr< BehaviorContext > & | shared_resources | ||
| ) |
Member Function Documentation
◆ 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()
|
static |
◆ providedPorts()
|
static |
The documentation for this class was generated from the following files:
