Segment an image using the SAM2 model and point prompts. More...

#include <sam2_segmentation.hpp>

Inheritance diagram for moveit_pro::behaviors::GetMasks2DFromPointQuery:

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Collaboration diagram for moveit_pro::behaviors::GetMasks2DFromPointQuery:

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Classes
struct	InferenceHandle
	Interface for SAM2 point-prompted segmentation inference. More...

struct	SAM2SegmentHandle
	Default implementation using SAM2Segment over the shared model pool. More...

Public Member Functions
	GetMasks2DFromPointQuery (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources, std::unique_ptr< InferenceHandle > inference_handle=std::make_unique< SAM2SegmentHandle >())
	Constructor for the GetMasks2DFromPointQuery behavior.

	~GetMasks2DFromPointQuery () override

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.

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 ()
	Implementation of the required providedPorts() function for the Behavior.

static BT::KeyValueVector	metadata ()
	Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool.

Detailed Description

Segment an image using the SAM2 model and point prompts.

Data Port Name	Port Type	Object Type
image	input	sensor_msgs::msg::Image
pixel_coords	input	std::vector<geometry_msgs::msg::PointStamped>
model_bundle_manifest	input	std::string
runtime_id	input	std::string
model_package	input	std::string
masks2d	output	std::vector<moveit_studio_vision_msgs::msg::Mask2D>

Constructor & Destructor Documentation

◆ GetMasks2DFromPointQuery()

moveit_pro::behaviors::GetMasks2DFromPointQuery::GetMasks2DFromPointQuery	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &	shared_resources,
		std::unique_ptr< InferenceHandle >	inference_handle = `std::make_unique<SAM2SegmentHandle>()`
	)

Constructor for the GetMasks2DFromPointQuery behavior.

Parameters

name	The name of a particular instance of this Behavior. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
config	This contains runtime configuration info for this Behavior, such as the mapping between the Behavior's data ports on the behavior tree's blackboard. This will be set by the behavior tree factory when this Behavior is created within a new behavior tree.
shared_resources	Provides access to common resources such as the node handle and failure logger that are shared between all the behaviors that inherit from moveit_pro::behaviors::SharedResourcesNode.
inference_handle	Custom inference implementation (default uses SAM2SegmentHandle).

◆ ~GetMasks2DFromPointQuery()

moveit_pro::behaviors::GetMasks2DFromPointQuery::~GetMasks2DFromPointQuery ( )

overridedefault

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_pro::behaviors::GetMasks2DFromPointQuery::metadata ( )

static

Implementation of the metadata() function for displaying metadata, such as Behavior description and subcategory, in the MoveIt Studio Developer Tool.

Returns: A BT::KeyValueVector containing the Behavior metadata.

◆ providedPorts()

BT::PortsList moveit_pro::behaviors::GetMasks2DFromPointQuery::providedPorts ( )

static

Implementation of the required providedPorts() function for the Behavior.

Returns: List of ports for the behavior.

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

Classes

Public Member Functions