posedetection_msgs¶

Message types¶

• posedetection_msgs/ImageFeature1D
• posedetection_msgs/Feature1D
• posedetection_msgs/ImageFeature0D
• posedetection_msgs/ObjectDetection
• posedetection_msgs/Curve1D
• posedetection_msgs/Feature0D
• posedetection_msgs/Object6DPose

posedetection_msgs/ImageFeature1D¶

Field:	image (sensor_msgs/Image) – info (sensor_msgs/CameraInfo) – features (posedetection_msgs/Feature1D) –

synchronized image and features message

# synchronized image and features message
sensor_msgs/Image image
sensor_msgs/CameraInfo info
posedetection_msgs/Feature1D features

posedetection_msgs/Feature1D¶

Field:	header (std_msgs/Header) – lines[] (posedetection_msgs/Curve1D) – descriptors[] (float32) – confidences[] (float32) – descriptor_dim (int32) –

Header header
Curve1D[] lines # N, 0-indexed
float32[] descriptors # N*descriptor_dim
float32[] confidences # optional
int32 descriptor_dim

posedetection_msgs/ImageFeature0D¶

Field:	image (sensor_msgs/Image) – info (sensor_msgs/CameraInfo) – features (posedetection_msgs/Feature0D) –

synchronized image and features message

# synchronized image and features message
sensor_msgs/Image image
sensor_msgs/CameraInfo info
posedetection_msgs/Feature0D features

posedetection_msgs/ObjectDetection¶

Field:	header (std_msgs/Header) – objects[] (posedetection_msgs/Object6DPose) –

Header header
Object6DPose[] objects
# unique image id these objects were taken from

posedetection_msgs/Curve1D¶

Field:	pts[] (float32) –

float32[] pts # 2xN points in the image

posedetection_msgs/Feature0D¶

Field:	header (std_msgs/Header) – positions[] (float32) – scales[] (float32) – orientations[] (float32) – confidences[] (float32) – descriptors[] (float32) – descriptor_dim (int32) – type (string) –

Header header
float32[] positions # 2*N, 0-indexed
float32[] scales # N, optional
float32[] orientations # N, optional, along +X is 0
float32[] confidences
float32[] descriptors # N*descriptor_dim
int32 descriptor_dim
string type # type of feature

posedetection_msgs/Object6DPose¶

Field:	pose (geometry_msgs/Pose) – reliability (float32) – type (string) –

6D pose of object

# 6D pose of object
geometry_msgs/Pose pose
# reliability
float32 reliability

# type of object, usually contains the filename of the object that allows the receiving side to visualize it
# can also be used as a unique type id
string type 

Service types¶

• posedetection_msgs/Feature1DDetect
• posedetection_msgs/Detect
• posedetection_msgs/Feature0DDetect
• posedetection_msgs/TargetObj

posedetection_msgs/Feature1DDetect¶

Field (Request):
	image (sensor_msgs/Image) –
Field (Response):
	features (posedetection_msgs/Feature1D) –

sensor_msgs/Image image
---
posedetection_msgs/Feature1D features

posedetection_msgs/Detect¶

Field (Request):
	image (sensor_msgs/Image) – camera_info (sensor_msgs/CameraInfo) –
Field (Response):
	object_detection (posedetection_msgs/ObjectDetection) –

service that passes an image and gets object detection results

# service that passes an image and gets object detection results
sensor_msgs/Image image
sensor_msgs/CameraInfo camera_info
---
ObjectDetection object_detection

posedetection_msgs/Feature0DDetect¶

Field (Request):
	image (sensor_msgs/Image) –
Field (Response):
	features (posedetection_msgs/Feature0D) –

sensor_msgs/Image image
---
posedetection_msgs/Feature0D features

posedetection_msgs/TargetObj¶

Field (Request):
	type (string) –
Field (Response):
	object_pose (posedetection_msgs/Object6DPose) –

service that returns posedetection_msgs/Object6DPose

# service that returns posedetection_msgs/Object6DPose
string type
---
posedetection_msgs/Object6DPose object_pose