or_msgs¶

Message types¶

• or_msgs/OrCommand
• or_msgs/BoundingBox2D
• or_msgs/OrLearningStatus
• or_msgs/KeyPoint
• or_msgs/Point2D
• or_msgs/OrMatchResult
• or_msgs/KeyPointMatch
• or_msgs/OrLearnCommand
• or_msgs/OrObjectNames
• or_msgs/ExtractKeyPoints
• or_msgs/MatchResult
• or_msgs/KeyPointMatchArray

or_msgs/OrCommand¶

Field:	command (int32) – value_type (int32) – int_value (int32) – float_value (float32) – string_value (string) – bounding_boxes[] (or_msgs/BoundingBox2D) –

int32 command
int32 value_type
int32 int_value
float32 float_value
string string_value
BoundingBox2D[] bounding_boxes

or_msgs/BoundingBox2D¶

Field:	minX (float32) – minY (float32) – maxX (float32) – maxY (float32) –

float32 minX
float32 minY
float32 maxX
float32 maxY

or_msgs/OrLearningStatus¶

Field:	image_names[] (string) – object_type (string) –

string[] image_names
string object_type

or_msgs/KeyPoint¶

Field:	x (float32) – y (float32) – scale (float32) – strength (float32) – orientation (float32) – sign (int32) – feature_vector[] (float64) – vector_limits[] (uint32) –

float32 x
float32 y
float32 scale
float32 strength
float32 orientation
int32 sign
float64[] feature_vector
uint32[] vector_limits

or_msgs/Point2D¶

Field:	x (float64) – y (float64) –

float64 x
float64 y

or_msgs/OrMatchResult¶

Field:	image (sensor_msgs/Image) – key_points[] (or_msgs/KeyPoint) – match_results[] (or_msgs/MatchResult) – bounding_boxes[] (or_msgs/BoundingBox2D) – seq_num (int32) – debug_image_with_bb (sensor_msgs/Image) –

sensor_msgs/Image image
KeyPoint[] key_points
MatchResult[] match_results
BoundingBox2D[] bounding_boxes 
int32 seq_num  # this can be removed
sensor_msgs/Image debug_image_with_bb

or_msgs/KeyPointMatch¶

Field:	index1 (uint32) – index2 (uint32) – distance (float64) – turn_angle (float64) – scale_quotient (float64) –

uint32 index1
uint32 index2
float64 distance
float64 turn_angle
float64 scale_quotient

or_msgs/OrLearnCommand¶

Field:	command (int32) – value_type (int32) – int_value (int32) – float_value (float32) – string_value (string) –

int32 command
int32 value_type
int32 int_value
float32 float_value
string string_value

or_msgs/OrObjectNames¶

Field:	object_names[] (string) – object_types[] (string) –

string[] object_names
string[] object_types

or_msgs/ExtractKeyPoints¶

Field:	img_source (int32) – bounding_boxes[] (or_msgs/BoundingBox2D) –

int32 img_source                    # can be removed
BoundingBox2D[] bounding_boxes      # can be removed

or_msgs/MatchResult¶

Field:

object_name (string) – object_type (string) – image (sensor_msgs/Image) – image_index (int32) – image_name (string) – outline[] (or_msgs/Point2D) – b_box[] (or_msgs/Point2D) – center (or_msgs/Point2D) – bounding_box_index (int32) – key_point_index_map[] (uint32) – object_key_points[] (or_msgs/KeyPoint) – stage1_matchesb_[] (or_msgs/KeyPointMatch) – stage2_matches[] (or_msgs/KeyPointMatchArray) – stage3_matches[] (or_msgs/KeyPointMatch) – scene_key_points_within_outline[] (or_msgs/KeyPoint) – homography[9] (float64) –

string object_name
string object_type

sensor_msgs/Image image
int32 image_index
string image_name
Point2D[] outline
Point2D[] b_box
Point2D center
int32 bounding_box_index              # this can be removed

uint32[] key_point_index_map           # this can be removed
KeyPoint[] object_key_points

KeyPointMatch[] stage1_matchesb_
KeyPointMatchArray[] stage2_matches
KeyPointMatch[] stage3_matches
KeyPoint[] scene_key_points_within_outline

float64[9] homography

or_msgs/KeyPointMatchArray¶

Field:	key_point_match_array[] (or_msgs/KeyPointMatch) –

KeyPointMatch[] key_point_match_array

Service types¶

• or_msgs/RecognizeImage

or_msgs/RecognizeImage¶

Field (Request):
	image (sensor_msgs/Image) –
Field (Response):
	names[] (string) – image_with_bb (sensor_msgs/Image) –

sensor_msgs/Image   image
---
string[]            names
sensor_msgs/Image   image_with_bb