Segment an image using SAM2 automasking with grid-based point generation. More...

#include <sam2_automasking.hpp>

Inheritance diagram for moveit_studio::behaviors::GetMasks2DAutomask:

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Collaboration diagram for moveit_studio::behaviors::GetMasks2DAutomask:

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Classes
struct	InferenceHandle
	Interface for SAM2 automasking inference. More...

struct	SAM2AutomaskHandle
	Default implementation using SAM2Automasking. More...

Public Member Functions
	GetMasks2DAutomask (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &shared_resources, std::unique_ptr< InferenceHandle > inference_handle=std::make_unique< SAM2AutomaskHandle >())
	Constructor for SAM2 automasking behavior.

	~GetMasks2DAutomask () override

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 ()
	Provides port definitions for BehaviorTree.

static BT::KeyValueVector	metadata ()
	Provides behavior metadata for UI.

Protected Member Functions
tl::expected< bool, std::string >	doWork () override
	Execute automasking.

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

Segment an image using SAM2 automasking with grid-based point generation.

This behavior automatically segments an image by generating a uniform grid of points and running SAM2 inference on each point. Applies NMS to remove overlapping masks and splits disconnected components.

Data Port Name	Port Type	Object Type
image	input	sensor_msgs::msg::Image
grid_size	input	int
score_threshold	input	float
nms_threshold	input	float
min_component_area	input	int
encoder_model_path	input	std::string
prompt_encoder_model_path	input	std::string
decoder_model_path	input	std::string
model_package	input	std::string
masks2d	output	std::vector<moveit_studio_vision_msgs::msg::Mask2D>
mask_count	output	int

Constructor & Destructor Documentation

◆ GetMasks2DAutomask()

moveit_studio::behaviors::GetMasks2DAutomask::GetMasks2DAutomask	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< moveit_studio::behaviors::BehaviorContext > &	shared_resources,
		std::unique_ptr< InferenceHandle >	inference_handle = `std::make_unique<SAM2AutomaskHandle>()`
	)

Constructor for SAM2 automasking behavior.

Parameters

name	Behavior instance name
config	Behavior configuration
shared_resources	Shared behavior resources
inference_handle	Custom inference implementation (default uses SAM2AutomaskHandle)

◆ ~GetMasks2DAutomask()

moveit_studio::behaviors::GetMasks2DAutomask::~GetMasks2DAutomask ( )

overridedefault

Member Function Documentation

◆ doWork()

tl::expected< bool, std::string > moveit_studio::behaviors::GetMasks2DAutomask::doWork ( )

overrideprotectedvirtual

Execute automasking.

Returns: Success or error message

Implements moveit_studio::behaviors::AsyncBehaviorBase.

◆ metadata()

BT::KeyValueVector moveit_studio::behaviors::GetMasks2DAutomask::metadata ( )

static

Provides behavior metadata for UI.

Returns: Metadata key-value pairs

◆ providedPorts()

BT::PortsList moveit_studio::behaviors::GetMasks2DAutomask::providedPorts ( )

static

Provides port definitions for BehaviorTree.

Returns: List of input and output ports

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members