ROS messages

The messages below are designed for convenient storage and analysis of information received from the recognition system.

1. ImagePoint

File: msg/ImagePoint.msg

Message Description

int32 x         # x pixel value
int32 y         # y pixel value

The message stores the position of the point (pixel coordinates) in the image

2. Rect

File: msg/Rect.msg

Message Description

extended_object_detection/ImagePoint left_bottom      # coordinates of the lower left corner
extended_object_detection/ImagePoint rigth_up         # top-right coordinates
geometry_msgs/Vector3[] cornerTranslates    # translation to the points of the rectangle, from the lower left corner and clockwise, if the z value is 1, then this means that the distance to the object is not known

This message stores the standard description of the recognized object in the form of a bordering rectangle in the image. Also contains translations to the corners of this rectangle in 3D coordinates.

3. ExctractedInfo

File: msg/ExctractedInfo.msg Message Description

string[] keys
string[] values

This message is for information that can be obtained from a recognizable object, for example, the sub_id field can store an ArUco marker or an object recognized by the CNN. The text field, for example, can store information encoded by a QR code or the label of an object recognized by CNN.

For eg:

• For Aruco marker key :marker_id and value will be added.
• For CNN keys :class_label and :class_id and corresponding values will be added.

4. Contour

File: msg/Contour.msg Message Description

extended_object_detection/ImagePoint[] image_points       # contour points in the image
geometry_msgs/Vector3[] contourTranslates                 # contour points projected into 3D space, z == 1 means that the true distance is not known

The message stores information about the outline of an object.

5. Track

File: msg/Track.msg

Message Description

uint8 DETECTED = 0  # The current object is recognized by the detector
uint8 TRACKED = 1   # The current object was received using the OpenCV tracker
uint8 LOST = 2      # The object was lost, the information in the message belongs to the last result

int32 id            # track number unique for this type of object
uint8 status        # the status described above

This message describes a track when [tracking] is connected to an object.

6. BaseObject

File: msg/BaseObject.msg

Message Description

int32 type_id                               # object identifier, according to the object database
string type_name                            # object name, according to the object base
float64 score                               # confidence factor 
extended_object_detection/ExtractedInfo extracted_info # information stored by an object

geometry_msgs/Transform transform           # the position of the object in the image and in 3D coordinates
extended_object_detection/Rect rect         # the position of the bordering rectangle in the image and in 3D coordinates
extended_object_detection/Contour contour   # contour information

# tracking
extended_object_detection/Track track       # track information

This message contains information about a common object stuff. Note that in all translates, z == 1 means that the exact distance to the object is not known.

7. SimpleObjectArray

File: msg/SimpleObjectArray.msg

Message Description

std_msgs/Header header
extended_object_detection/BaseObject[] objects

Information about a set of Simple Objects.

8. ComplexObject

File: msg/ComplexObject

Message Description

extended_object_detection/BaseObject complex_object    # aggregated complex object
extended_object_detection/BaseObject[] simple_objects    # set of simple parts with names in correspondanse to complex object description

A message describing a Complex Object.

9. ComplexObjectArray

File: msg/ComplexObjectArray.msg

Message Description

std_msgs/Header header
extended_object_detection/ComplexObject[] objects

Information about a set of Complex Objects.

10. StatsStream

File: msg/StatsStream.msg

Message Description

string frame_id # frame of RGB-image
int32 proceeded_frames # number of frame been proceed by detector
int32 skipped_frames # number of frames been skipped by manual detection rate reducing
int32 dropped_frames # number of frames been dropped by manual time lag limit
float64 mean_rate # mean rate of detection in some window

11. StatsArray

File: msg/StatsArray.msg

Message Description

extended_object_detection/StatsStream[] streams