jsk_recognition_msgs¶

Message types¶

• jsk_recognition_msgs/RotatedRectStamped
• jsk_recognition_msgs/ColorHistogramArray
• jsk_recognition_msgs/Line
• jsk_recognition_msgs/Torus
• jsk_recognition_msgs/LineArray
• jsk_recognition_msgs/BoundingBoxArrayWithCameraInfo
• jsk_recognition_msgs/WeightedPoseArray
• jsk_recognition_msgs/Rect
• jsk_recognition_msgs/Histogram
• jsk_recognition_msgs/BoundingBoxArray
• jsk_recognition_msgs/SlicedPointCloud
• jsk_recognition_msgs/ClusterPointIndices
• jsk_recognition_msgs/HistogramWithRangeBin
• jsk_recognition_msgs/SimpleHandle
• jsk_recognition_msgs/SnapItRequest
• jsk_recognition_msgs/Circle2D
• jsk_recognition_msgs/PolygonArray
• jsk_recognition_msgs/SparseOccupancyGridCell
• jsk_recognition_msgs/Int32Stamped
• jsk_recognition_msgs/BoundingBoxMovement
• jsk_recognition_msgs/SparseImage
• jsk_recognition_msgs/TorusArray
• jsk_recognition_msgs/RectArray
• jsk_recognition_msgs/SimpleOccupancyGridArray
• jsk_recognition_msgs/SparseOccupancyGridColumn
• jsk_recognition_msgs/PointsArray
• jsk_recognition_msgs/ImageDifferenceValue
• jsk_recognition_msgs/HistogramWithRangeArray
• jsk_recognition_msgs/ICPResult
• jsk_recognition_msgs/BoolStamped
• jsk_recognition_msgs/ContactSensorArray
• jsk_recognition_msgs/ModelCoefficientsArray
• jsk_recognition_msgs/HeightmapConfig
• jsk_recognition_msgs/TrackerStatus
• jsk_recognition_msgs/SparseOccupancyGrid
• jsk_recognition_msgs/ContactSensor
• jsk_recognition_msgs/SimpleOccupancyGrid
• jsk_recognition_msgs/VectorArray
• jsk_recognition_msgs/ClassificationResult
• jsk_recognition_msgs/ColorHistogram
• jsk_recognition_msgs/TimeRange
• jsk_recognition_msgs/PlotDataArray
• jsk_recognition_msgs/ParallelEdge
• jsk_recognition_msgs/SparseOccupancyGridArray
• jsk_recognition_msgs/DepthCalibrationParameter
• jsk_recognition_msgs/Circle2DArray
• jsk_recognition_msgs/ParallelEdgeArray
• jsk_recognition_msgs/BoundingBox
• jsk_recognition_msgs/DepthErrorResult
• jsk_recognition_msgs/HistogramWithRange
• jsk_recognition_msgs/PosedCameraInfo
• jsk_recognition_msgs/RotatedRect
• jsk_recognition_msgs/PlotData

jsk_recognition_msgs/RotatedRectStamped¶

Field:	header (std_msgs/Header) – rect (jsk_recognition_msgs/RotatedRect) –

Header header
RotatedRect rect

jsk_recognition_msgs/ColorHistogramArray¶

Field:	header (std_msgs/Header) – histograms[] (jsk_recognition_msgs/ColorHistogram) –

Header header
ColorHistogram[] histograms

jsk_recognition_msgs/Line¶

Field:	x1 (float64) – y1 (float64) – x2 (float64) – y2 (float64) –

float64 x1
float64 y1
float64 x2
float64 y2

jsk_recognition_msgs/Torus¶

Field:	header (std_msgs/Header) – failure (bool) – pose (geometry_msgs/Pose) – large_radius (float64) – small_radius (float64) –

Header header
bool failure
geometry_msgs/Pose pose
float64 large_radius
float64 small_radius

jsk_recognition_msgs/LineArray¶

Field:	header (std_msgs/Header) – lines[] (jsk_recognition_msgs/Line) –

Header header
Line[] lines

jsk_recognition_msgs/BoundingBoxArrayWithCameraInfo¶

Field:	header (std_msgs/Header) – boxes (jsk_recognition_msgs/BoundingBoxArray) – camera_info (sensor_msgs/CameraInfo) –

Header header
BoundingBoxArray boxes
sensor_msgs/CameraInfo camera_info

jsk_recognition_msgs/WeightedPoseArray¶

Field:	header (std_msgs/Header) – weights[] (float32) – poses (geometry_msgs/PoseArray) –

Header header
float32[] weights
geometry_msgs/PoseArray poses

jsk_recognition_msgs/Rect¶

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

int32 x
int32 y
int32 width
int32 height

jsk_recognition_msgs/Histogram¶

Field:	header (std_msgs/Header) – histogram[] (float64) –

Header header
float64[] histogram

jsk_recognition_msgs/BoundingBoxArray¶

Field:	header (std_msgs/Header) – boxes[] (jsk_recognition_msgs/BoundingBox) –

BoundingBoxArray is a list of BoundingBox. You can use jsk_rviz_plugins to visualize BoungingBoxArray on rviz.

# BoundingBoxArray is a list of BoundingBox.
# You can use jsk_rviz_plugins to visualize BoungingBoxArray on rviz.
Header header
BoundingBox[] boxes

jsk_recognition_msgs/SlicedPointCloud¶

Field:	point_cloud (sensor_msgs/PointCloud2) – slice_index (uint8) – sequence_id (uint8) –

sensor_msgs/PointCloud2 point_cloud
uint8 slice_index
uint8 sequence_id

jsk_recognition_msgs/ClusterPointIndices¶

Field:	header (std_msgs/Header) – cluster_indices[] (pcl_msgs/PointIndices) –

ClusterPointIndices is used to represent segmentation result. Simply put, ClusterPointIndices is a list of PointIndices.

# ClusterPointIndices is used to represent segmentation result.
# Simply put, ClusterPointIndices is a list of PointIndices.
Header header
pcl_msgs/PointIndices[] cluster_indices

jsk_recognition_msgs/HistogramWithRangeBin¶

Field:	min_value (float64) – max_value (float64) – count (uint32) –

float64 min_value
float64 max_value
uint32 count

jsk_recognition_msgs/SimpleHandle¶

Field:	header (std_msgs/Header) – pose (geometry_msgs/Pose) – handle_width (float64) –

Header header
geometry_msgs/Pose pose
float64 handle_width

jsk_recognition_msgs/SnapItRequest¶

Field:	header (std_msgs/Header) – model_type (uint8) – target_plane (geometry_msgs/PolygonStamped) – center (geometry_msgs/PointStamped) – direction (geometry_msgs/Vector3Stamped) – radius (float64) – height (float64) – max_distance (float64) – eps_angle (float64) –
Constant:	MODEL_PLANE (uint8):0 – MODEL_CYLINDER (uint8):1 –

Header header
uint8 MODEL_PLANE=0
uint8 MODEL_CYLINDER=1
uint8 model_type

geometry_msgs/PolygonStamped target_plane

geometry_msgs/PointStamped center
geometry_msgs/Vector3Stamped direction
float64 radius
float64 height
# parameters, 0 means 
float64 max_distance
float64 eps_angle

jsk_recognition_msgs/Circle2D¶

Field:	header (std_msgs/Header) – radius (float64) – x (float64) – y (float64) –

Header header
float64 radius
float64 x
float64 y

jsk_recognition_msgs/PolygonArray¶

Field:	header (std_msgs/Header) – polygons[] (geometry_msgs/PolygonStamped) – labels[] (uint32) – likelihood[] (float32) –

PolygonArray is a list of PolygonStamped. You can use jsk_rviz_plugins to visualize PolygonArray on rviz.

# PolygonArray is a list of PolygonStamped.
# You can use jsk_rviz_plugins to visualize PolygonArray on rviz.
Header header
geometry_msgs/PolygonStamped[] polygons
uint32[] labels
float32[] likelihood

jsk_recognition_msgs/SparseOccupancyGridCell¶

Field:	row_index (int32) – value (float32) –

int32 row_index
float32 value

jsk_recognition_msgs/Int32Stamped¶

Field:	header (std_msgs/Header) – data (int32) –

Header header
int32 data

jsk_recognition_msgs/BoundingBoxMovement¶

Field:	header (std_msgs/Header) – box (jsk_recognition_msgs/BoundingBox) – handle_pose (geometry_msgs/Pose) – destination (geometry_msgs/PoseStamped) –

Header header
BoundingBox box
geometry_msgs/Pose handle_pose
geometry_msgs/PoseStamped destination

jsk_recognition_msgs/SparseImage¶

Field:	header (std_msgs/Header) – width (uint32) – height (uint32) – data16[] (uint16) – data32[] (uint32) –

Header header

uint32 width
uint32 height

# each uint8 or uint16 contains position of white pixel expressed like: "(x << 8 or 16) ^ y"
# if max(width, height) > 256(=2^8) use data32 array, else use data16 array.
uint16[] data16
uint32[] data32

jsk_recognition_msgs/TorusArray¶

Field:	header (std_msgs/Header) – toruses[] (jsk_recognition_msgs/Torus) –

Header header
Torus[] toruses

jsk_recognition_msgs/RectArray¶

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

Header header
Rect[] rects

jsk_recognition_msgs/SimpleOccupancyGridArray¶

Field:	header (std_msgs/Header) – grids[] (jsk_recognition_msgs/SimpleOccupancyGrid) –

Header header
SimpleOccupancyGrid[] grids

jsk_recognition_msgs/SparseOccupancyGridColumn¶

Field:	column_index (int32) – cells[] (jsk_recognition_msgs/SparseOccupancyGridCell) –

int32 column_index
SparseOccupancyGridCell[] cells

jsk_recognition_msgs/PointsArray¶

Field:	header (std_msgs/Header) – cloud_list[] (sensor_msgs/PointCloud2) –

Header header
sensor_msgs/PointCloud2[] cloud_list

jsk_recognition_msgs/ImageDifferenceValue¶

Field:	header (std_msgs/Header) – difference (float32) –

Header header

float32 difference

jsk_recognition_msgs/HistogramWithRangeArray¶

Field:	header (std_msgs/Header) – histograms[] (jsk_recognition_msgs/HistogramWithRange) –

Header header
HistogramWithRange[] histograms

jsk_recognition_msgs/ICPResult¶

Field:	header (std_msgs/Header) – pose (geometry_msgs/Pose) – name (string) – score (float64) –

Header header
geometry_msgs/Pose pose
string name
float64 score

jsk_recognition_msgs/BoolStamped¶

Field:	header (std_msgs/Header) – data (bool) –

Header header
bool data

jsk_recognition_msgs/ContactSensorArray¶

Field:	header (std_msgs/Header) – datas[] (jsk_recognition_msgs/ContactSensor) –

std_msgs/Header header
jsk_recognition_msgs/ContactSensor[] datas

jsk_recognition_msgs/ModelCoefficientsArray¶

Field:	header (std_msgs/Header) – coefficients[] (pcl_msgs/ModelCoefficients) –

ModelCoefficientsArray is used to represent coefficients of model for each segmented clusters. Simply put, ModelCoefficientsArray is a list of ModelCoefficients.

# ModelCoefficientsArray is used to represent coefficients of model
# for each segmented clusters.
# Simply put, ModelCoefficientsArray is a list of ModelCoefficients.
Header header
pcl_msgs/ModelCoefficients[] coefficients

jsk_recognition_msgs/HeightmapConfig¶

Field:	min_x (float32) – max_x (float32) – min_y (float32) – max_y (float32) –

float32 min_x
float32 max_x
float32 min_y
float32 max_y

jsk_recognition_msgs/TrackerStatus¶

Field:	header (std_msgs/Header) – is_tracking (bool) –

Header header
bool is_tracking

jsk_recognition_msgs/SparseOccupancyGrid¶

Field:	header (std_msgs/Header) – origin_pose (geometry_msgs/Pose) – resolution (float32) – columns[] (jsk_recognition_msgs/SparseOccupancyGridColumn) –

Header header
geometry_msgs/Pose origin_pose
float32 resolution

SparseOccupancyGridColumn[] columns

jsk_recognition_msgs/ContactSensor¶

Field:	header (std_msgs/Header) – contact (bool) – link_name (string) –

Header

# Header
Header header

# Whether sensor detects contact or not
bool contact

string link_name

jsk_recognition_msgs/SimpleOccupancyGrid¶

Field:	header (std_msgs/Header) – coefficients[4] (float32) – resolution (float32) – cells[] (geometry_msgs/Point) –

Header header
# plane coefficients
float32[4] coefficients
# cells
float32 resolution
geometry_msgs/Point[] cells

jsk_recognition_msgs/VectorArray¶

Field:	header (std_msgs/Header) – vector_dim (int32) – data[] (float64) –

Header header
int32 vector_dim
float64[] data

jsk_recognition_msgs/ClassificationResult¶

Field:	header (std_msgs/Header) – labels[] (uint32) – label_names[] (string) – label_proba[] (float64) – probabilities[] (float64) – classifier (string) – target_names[] (string) –

information about frame and timestamp

# information about frame and timestamp
Header header

# prediction results
uint32[] labels          # numerical labels
string[] label_names     # non-numerical labels
float64[] label_proba    # probabilities of labels
float64[] probabilities  # probabilities about each classification for all target_names

# information about classifier
string classifier        # name of classifier
string[] target_names    # set in which label_names should be

jsk_recognition_msgs/ColorHistogram¶

Field:	header (std_msgs/Header) – histogram[] (float32) –

Header header
float32[] histogram

jsk_recognition_msgs/TimeRange¶

Field:	header (std_msgs/Header) – start (time) – end (time) –

Represents range of time.

# Represents range of time.
std_msgs/Header header
time start
time end

jsk_recognition_msgs/PlotDataArray¶

Field:	header (std_msgs/Header) – data[] (jsk_recognition_msgs/PlotData) – no_legend (bool) – legend_font_size (float32) – max_x (float32) – min_x (float32) – min_y (float32) – max_y (float32) –

Header header
jsk_recognition_msgs/PlotData[] data
bool no_legend
float32 legend_font_size
float32 max_x
float32 min_x
float32 min_y
float32 max_y

jsk_recognition_msgs/ParallelEdge¶

Field:	header (std_msgs/Header) – cluster_indices[] (pcl_msgs/PointIndices) – coefficients[] (pcl_msgs/ModelCoefficients) –

Header header
pcl_msgs/PointIndices[] cluster_indices
pcl_msgs/ModelCoefficients[] coefficients

jsk_recognition_msgs/SparseOccupancyGridArray¶

Field:	header (std_msgs/Header) – grids[] (jsk_recognition_msgs/SparseOccupancyGrid) –

Header header
SparseOccupancyGrid[] grids

jsk_recognition_msgs/DepthCalibrationParameter¶

Field:	coefficients2[] (float64) – coefficients1[] (float64) – coefficients0[] (float64) – use_abs (bool) –

each vector stands for C(u, v) C(u, v) = a_0 * u^2 + a_1 * u + a_2 * v^2 + a_3 * v + a_4

# each vector stands for C(u, v)
# C(u, v) = a_0 * u^2 + a_1 * u + a_2 * v^2 + a_3 * v + a_4
float64[] coefficients2
float64[] coefficients1
float64[] coefficients0
bool use_abs

jsk_recognition_msgs/Circle2DArray¶

Field:	header (std_msgs/Header) – circles[] (jsk_recognition_msgs/Circle2D) –

Header header
Circle2D[] circles

jsk_recognition_msgs/ParallelEdgeArray¶

Field:	header (std_msgs/Header) – edge_groups[] (jsk_recognition_msgs/ParallelEdge) –

Header header
ParallelEdge[] edge_groups

jsk_recognition_msgs/BoundingBox¶

Field:	header (std_msgs/Header) – pose (geometry_msgs/Pose) – dimensions (geometry_msgs/Vector3) – value (float32) – label (uint32) –

BoundingBox represents a oriented bounding box.

# BoundingBox represents a oriented bounding box.
Header header
geometry_msgs/Pose pose
geometry_msgs/Vector3 dimensions  # size of bounding box (x, y, z)
# You can use this field to hold value such as likelihood
float32 value
uint32 label

jsk_recognition_msgs/DepthErrorResult¶

Field:	header (std_msgs/Header) – u (uint32) – v (uint32) – center_u (float32) – center_v (float32) – true_depth (float32) – observed_depth (float32) –

Header header
uint32 u
uint32 v
float32 center_u
float32 center_v
float32 true_depth
float32 observed_depth

jsk_recognition_msgs/HistogramWithRange¶

Field:	header (std_msgs/Header) – bins[] (jsk_recognition_msgs/HistogramWithRangeBin) –

Header header
HistogramWithRangeBin[] bins

jsk_recognition_msgs/PosedCameraInfo¶

Field:	header (std_msgs/Header) – camera_info (sensor_msgs/CameraInfo) – offset (geometry_msgs/Pose) –

Header header
sensor_msgs/CameraInfo camera_info
geometry_msgs/Pose offset

jsk_recognition_msgs/RotatedRect¶

Field:	x (float64) – y (float64) – width (float64) – height (float64) – angle (float64) –

float64 x
float64 y
float64 width
float64 height
float64 angle # degree

jsk_recognition_msgs/PlotData¶

Constant:	SCATTER (uint32):1 – LINE (uint32):2 –
Field:	header (std_msgs/Header) – xs[] (float32) – ys[] (float32) – type (uint32) – label (string) – fit_line (bool) – fit_line_ransac (bool) –

uint32 SCATTER=1
uint32 LINE=2

Header header
float32[] xs
float32[] ys
uint32 type                     #SCATTER or LINE
string label
bool fit_line
bool fit_line_ransac

Service types¶

• jsk_recognition_msgs/SetPointCloud2

jsk_recognition_msgs/SetPointCloud2¶

Field (Request):
	cloud (sensor_msgs/PointCloud2) – name (string) –
Field (Response):
	output (string) –

sensor_msgs/PointCloud2 cloud
string name
---
string output