cob_object_detection_msgs¶

Message types¶

• cob_object_detection_msgs/Rect
• cob_object_detection_msgs/DetectionArray
• cob_object_detection_msgs/Detection
• cob_object_detection_msgs/RectArray
• cob_object_detection_msgs/MaskArray
• cob_object_detection_msgs/PoseRT
• cob_object_detection_msgs/Mask

cob_object_detection_msgs/Rect¶

Field:	x (int32) – y (int32) – width (int32) – height (int32) –

int32 x
int32 y
int32 width
int32 height

cob_object_detection_msgs/DetectionArray¶

Field:	header (std_msgs/Header) – detections[] (cob_object_detection_msgs/Detection) –

Header header
Detection[] detections

cob_object_detection_msgs/Detection¶

Field:	header (std_msgs/Header) – label (string) – id (int32) – detector (string) – score (float32) – mask (cob_object_detection_msgs/Mask) – pose (geometry_msgs/PoseStamped) – bounding_box_lwh (geometry_msgs/Point) –

Header header
string label
int32 id
string detector
float32 score
Mask mask
geometry_msgs/PoseStamped pose
geometry_msgs/Point bounding_box_lwh

cob_object_detection_msgs/RectArray¶

Field:	header (std_msgs/Header) – rects[] (cob_object_detection_msgs/Rect) –

Header header
Rect[] rects

cob_object_detection_msgs/MaskArray¶

Field:	header (std_msgs/Header) – masks[] (cob_object_detection_msgs/Mask) –

Header header
Mask[] masks

cob_object_detection_msgs/PoseRT¶

Field:	rvec[3] (float64) – tvec[3] (float64) –

3x1 rotation vector, Rodrigues axis angle form, angle = norm(rvec) – radians axis = rvec/norm(rvec) – unit length

#3x1 rotation vector, Rodrigues axis angle form,
#angle = norm(rvec) -- radians
#axis = rvec/norm(rvec) -- unit length
float64[3]  rvec
#3x1 translation vector, in meters
float64[3]  tvec

cob_object_detection_msgs/Mask¶

Field:	roi (cob_object_detection_msgs/Rect) – mask (sensor_msgs/Image) –

this message is used to mark where an object is present in an image this can be done either by a roi region on the image (less precise) or a mask (more precise)

# this message is used to mark where an object is present in an image
# this can be done either by a roi region on the image (less precise) or a mask (more precise)

Rect roi

# in the case when mask is used, 'roi' specifies the image region and 'mask'
# (which should be of the same size) a binary mask in that region
sensor_msgs/Image mask

# in the case there is 3D data available, 'indices' are used to index the 
# part of the point cloud representing the object
#pcl/PointIndices indices

Service types¶

• cob_object_detection_msgs/TrainObject
• cob_object_detection_msgs/StopObjectRecording
• cob_object_detection_msgs/BaTestEnvironment
• cob_object_detection_msgs/BagTrainObject
• cob_object_detection_msgs/SaveRecordedObject
• cob_object_detection_msgs/StartObjectRecording
• cob_object_detection_msgs/AcquireObjectImage
• cob_object_detection_msgs/DetectObjects

cob_object_detection_msgs/TrainObject¶

Field (Request):
	object_name (string) –

string object_name
---

cob_object_detection_msgs/StopObjectRecording¶

Field (Request):
	stop_although_model_is_incomplete (bool) –
Field (Response):
	recording_stopped (bool) –

this service stops the object data recording procedure

request message

# this service stops the object data recording procedure

# request message
bool stop_although_model_is_incomplete		# if this parameter is False, the recording is not stopped if the recorded data does not cover all desired perspectives
---
# response message
bool recording_stopped				# feedback whether the recording has been stopped in the recording module

cob_object_detection_msgs/BaTestEnvironment¶

Field (Request):
	number_points (int32) – frame_view_number (float32) – cone_points_per_plane (float32) – limit_error_matching (float32) – ba_kernel_param (float32) – ba_num_iter (int32) – ba_initial_mu (float32) – ba_final_mu_factor (float32) – ba_tau (float32) – angle_sigma_degree (float32) – translate_sigma_m (float32) – obs_point_sigma_m (float32) – world_point_sigma_m (float32) –
Field (Response):
	mean_error (float32) – std_dev (float32) – min_error (float32) – max_error (float32) – runs_count (float32) – runs_sum (float32) – runs_sum2 (float32) – time_duration (float32) – observations (int32) – false_matchings (int32) – result (std_msgs/String) –

ROS service for testing sparce Bundle Adjustment parameter for testdata structure

# ROS service for testing sparce Bundle Adjustment
# parameter for testdata structure
int32 number_points
float32 frame_view_number
float32 cone_points_per_plane 

# perameter to describe errors
float32 limit_error_matching

float32 ba_kernel_param
int32 ba_num_iter
float32 ba_initial_mu
float32 ba_final_mu_factor
float32 ba_tau

float32 angle_sigma_degree
float32 translate_sigma_m
float32 obs_point_sigma_m
float32 world_point_sigma_m

---
float32 mean_error
float32 std_dev
float32 min_error
float32 max_error
float32 runs_count
float32 runs_sum
float32 runs_sum2

float32 time_duration
int32 observations
int32 false_matchings

std_msgs/String result

cob_object_detection_msgs/BagTrainObject¶

Field (Request):
	object_name (std_msgs/String) –
Field (Response):
	trained (std_msgs/String) –

std_msgs/String object_name
---
std_msgs/String trained

cob_object_detection_msgs/SaveRecordedObject¶

Field (Request):
	storage_location (string) –

this service initiates saving the recorded object data

request message

# this service initiates saving the recorded object data

# request message
string storage_location		# [optional] path to the desired storage folder; if not provided, the standard folder specified in the program will be used
---
# response message

cob_object_detection_msgs/StartObjectRecording¶

Field (Request):
	object_label (string) –

this service starts the object data recording procedure

request message

# this service starts the object data recording procedure

# request message
string object_label		# the name of the object that shall be recorded
---
# response message

cob_object_detection_msgs/AcquireObjectImage¶

Field (Request):
	object_name (string) – reset_image_counter (bool) – pose (geometry_msgs/PoseStamped) – sdh_joints[] (geometry_msgs/PoseStamped) –

string object_name
bool reset_image_counter
geometry_msgs/PoseStamped pose
geometry_msgs/PoseStamped[] sdh_joints
---

cob_object_detection_msgs/DetectObjects¶

Field (Request):
	object_name (std_msgs/String) – roi (sensor_msgs/RegionOfInterest) –
Field (Response):
	object_list (cob_object_detection_msgs/DetectionArray) –

std_msgs/String object_name
sensor_msgs/RegionOfInterest roi
---
cob_object_detection_msgs/DetectionArray object_list

Action types¶

• cob_object_detection_msgs/TrainObject
• cob_object_detection_msgs/DetectObjects
• cob_object_detection_msgs/AcquireObjectImage

cob_object_detection_msgs/TrainObject¶

Field (Goal):	object_name (string) –
Field (Feedback):
	percent_complete (float32) –

The goal

# The goal
string object_name
---
# The results
---
# The feedback
float32 percent_complete

cob_object_detection_msgs/DetectObjects¶

Field (Goal):	object_name (std_msgs/String) –
Field (Result):	object_list (cob_object_detection_msgs/DetectionArray) –
Field (Feedback):
	percent_complete (float32) –

The goal

# The goal
std_msgs/String object_name
---
# The result
cob_object_detection_msgs/DetectionArray object_list
---
# The feedback
float32 percent_complete

cob_object_detection_msgs/AcquireObjectImage¶

Field (Goal):	object_name (string) – reset_image_counter (bool) – pose (geometry_msgs/PoseStamped) – sdh_joints[] (geometry_msgs/PoseStamped) –
Field (Feedback):
	percent_complete (float32) –

The goal

# The goal
string object_name
bool reset_image_counter
geometry_msgs/PoseStamped pose
geometry_msgs/PoseStamped[] sdh_joints
---
# The results
---
# The feedback
float32 percent_complete