household_objects_database_msgs

Summary

household_objects_database_msgs
Version:

0.1.1
Description:

The household_objects_database_msgs package
Maintainers:
  • Matei Ciocarlie <matei AT willowgarage DOT com>
Licenses:
  • BSD
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

household_objects_database_msgs/DatabaseReturnCode
Constant:
  • UNKNOWN_ERROR (int32):1 –
  • DATABASE_NOT_CONNECTED (int32):2 –
  • DATABASE_QUERY_ERROR (int32):3 –
  • SUCCESS (int32):-1 –
Field:
  • code (int32) –

return codes for database-related services

# return codes for database-related services

int32 UNKNOWN_ERROR = 1
int32 DATABASE_NOT_CONNECTED = 2
int32 DATABASE_QUERY_ERROR = 3
int32 SUCCESS = -1

int32 code
household_objects_database_msgs/DatabaseModelPoseList
Field:

stores a list of possible database models recognition results

# stores a list of possible database models recognition results
DatabaseModelPose[] model_list
household_objects_database_msgs/DatabaseModelPose
Field:

Informs that a specific model from the Model Database has been identified at a certain location

the database id of the model

# Informs that a specific model from the Model Database has been 
# identified at a certain location

# the database id of the model
int32 model_id

# if the object was recognized by the ORK pipeline, its type will be in here
# if this is not empty, then the string in here will be converted to a household_objects_database id
# leave this empty if providing an id in the model_id field
object_recognition_msgs/ObjectType type

# the pose that it can be found in
geometry_msgs/PoseStamped pose

# a measure of the confidence level in this detection result
float32 confidence

# the name of the object detector that generated this detection result
string detector_name
household_objects_database_msgs/DatabaseScan
Field:
  • model_id (int32) –
  • bagfile_location (string) –
  • scan_source (string) –
  • pose (geometry_msgs/PoseStamped) –
  • cloud_topic (string) –

Contains the location of a stored point cloud scan of an object, as well as additional metadata about that scan

the database id of the model

# Contains the location of a stored point cloud scan of an object, 
# as well as additional metadata about that scan 

# the database id of the model
int32 model_id

# the location of the bag file storing the scan
string bagfile_location

# the source of the scan (e.g. simulation)
string scan_source

# the ground truth pose of the object that was scanned
geometry_msgs/PoseStamped pose

# the topic that the points in the bag are published on
string cloud_topic

Service types

household_objects_database_msgs/SaveScan
Field (Request):
 
  • scaled_model_id (int32) –
  • ground_truth_pose (geometry_msgs/PoseStamped) –
  • bagfile_location (string) –
  • scan_source (string) –
  • cloud_topic (string) –
Field (Response):
 

Stores information about a saved scan of an object to the database

the id of the model

# Stores information about a saved scan of an object to the database

# the id of the model
int32 scaled_model_id

# The ground truth location of the object represented by the point cloud
geometry_msgs/PoseStamped ground_truth_pose

# The location of the bagfile storing the scan
string bagfile_location

# The string name of the source of the scan data
string scan_source

# The topic in the bag that the cloud is published on 
string cloud_topic

---

# the outcome of the query
DatabaseReturnCode return_code
household_objects_database_msgs/GetModelScans
Field (Request):
 
  • model_id (int32) –
  • scan_source (string) –
Field (Response):
 

retrieves a list of object scans which match a given model id and source

the id of the model

# retrieves a list of object scans which match a given model id and source

# the id of the model
int32 model_id

# the string name of the source of the scan data
string scan_source

---

# the outcome of the query
DatabaseReturnCode return_code

# the returned scans
DatabaseScan[] matching_scans
household_objects_database_msgs/GetModelMesh
Field (Request):
 
  • model_id (int32) –
Field (Response):
 

retrieves the mesh for a model id

the id of the model

# retrieves the mesh for a model id

# the id of the model
int32 model_id

---

# the outcome of the query
DatabaseReturnCode return_code

# the returned mesh
shape_msgs/Mesh mesh
household_objects_database_msgs/TranslateRecognitionId
Field (Request):
 
  • recognition_id (string) –
Field (Response):
 
  • household_objects_id (int32) –
  • ID_NOT_FOUND (int32) –
  • DATABASE_ERROR (int32) –
  • OTHER_ERROR (int32) –
  • result (int32) –
Constant (Response):
 
  • SUCCESS (int32):0 – 
string recognition_id
---
int32 household_objects_id

int32 SUCCESS=0
int32 ID_NOT_FOUND
int32 DATABASE_ERROR
int32 OTHER_ERROR
int32 result
household_objects_database_msgs/GetModelList
Field (Request):
 
  • model_set (string) –
Field (Response):
 

retrieves model id’s from the database

optional: the name of a model set that the id’s should belong to; used to only retrieve a subset of models, pre-specified in the database leave empty to get all available models

# retrieves model id's from the database

# optional: the name of a model set that the id's should belong to;
# used to only retrieve a subset of models, pre-specified in the database
# leave empty to get all available models
string model_set

---

# the outcome of the query
DatabaseReturnCode return_code

# the actual model ids
int32[] model_ids
household_objects_database_msgs/GetModelDescription
Field (Request):
 
  • model_id (int32) –
Field (Response):
 

retreieves various metadata for an model id

the id of the model

# retreieves various metadata for an model id

# the id of the model
int32 model_id

---

# the outcome of the query
DatabaseReturnCode return_code

# the tags of the model
string[] tags

# the name of the model
string name

# the maker of the model
string maker