Class CubeDetector

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class CubeDetector : public rclcpp::Node

Inheritance diagram for perseus_vision::CubeDetector:

1 perseus_vision::CubeDetector perseus_vision::CubeDetector 2 rclcpp::Node rclcpp::Node 1->2 public-inheritance

Collaboration diagram for perseus_vision::CubeDetector:

1 perseus_vision::CubeDetector perseus_vision::CubeDetector 2 rclcpp::Node rclcpp::Node 1->2 public-inheritance

ROS2 node for detecting colored cubes and estimating their poses.

Subscribes to RGB images, runs ONNX-based object detection to find cubes, and can use aligned depth data to estimate 3D poses for publishing as detection messages and RViz markers. Also provides a service interface for returning the latest cached detections and optionally saving an annotated image.

Public Types

using DetectObjects = perseus_interfaces::srv::DetectObjects

Public Functions

CubeDetector()

Constructs the node, declaring parameters and setting up subscriptions, publishers, inference resources, and the detection service.