This package defines a set of messages to unify computer vision and object detection efforts in ROS.
The messages in this package are to define a common outward-facing interface for vision-based pipelines. The set of messages here are meant to enable 2D and 3D Detectors, which identify class probabilities as well as the position of those classes given a image or point cloud.
The class probabilities are stored with an array of ObjectHypothesis messages, which is essentially a map from integer IDs to float scores and position.
Message types exist separately for 2D (using sensor_msgs/Image) and 3D (using
sensor_msgs\PointCloud2). The metadata that is stored for each object is
application-specific, and so this package places very few constraints on the
metadata. Each possible detection result must have a unique numerical ID so
that it can be unambiguously and efficiently identified in the results messages.
Object metadata such as name, mesh, etc. can then be looked up from a database.
.
- BoundingBox2D, BoundingBox3D: orientable rectangular bounding boxes, specified by the position of their edges.
- Detection2D and Detection3D: classification + position.
- XArray messages, where X is one of the four message types listed above. A pipeline should emit XArray messages as its forward-facing ROS interface.
- VisionInfo: Information about a classifier, such as its name and where to find its metadata database.
- ObjectHypothesis: An id/score pair.
By using a very general message definition, we hope to cover as many of the various computer vision use cases as possible.