Messages and services ===================== The messages and the services of opencv_apps, published and provided by the nodes. .. _msg-Circle: opencv_apps/msg/Circle ---------------------- .. code-block:: text Point2D center float64 radius .. _msg-CircleArray: opencv_apps/msg/CircleArray --------------------------- .. code-block:: text Circle[] circles .. _msg-CircleArrayStamped: opencv_apps/msg/CircleArrayStamped ---------------------------------- .. code-block:: text std_msgs/Header header Circle[] circles .. _msg-Contour: opencv_apps/msg/Contour ----------------------- .. code-block:: text Point2D[] points .. _msg-ContourArray: opencv_apps/msg/ContourArray ---------------------------- .. code-block:: text Contour[] contours .. _msg-ContourArrayStamped: opencv_apps/msg/ContourArrayStamped ----------------------------------- .. code-block:: text std_msgs/Header header Contour[] contours .. _msg-Detection: opencv_apps/msg/Detection ------------------------- .. code-block:: text # an object detected by dnn_object_detection or people_detect, or a code or a marker detected by qrcode_detection, # barcode_detection and aruco_detection string label # class name of the object, QR_CODE, type of the barcode (e.g. EAN_13), or dictionary of the marker (e.g. DICT_4X4_50) string data # decoded text of the code, or empty int32 id # class id of the object, or id of the marker, or -1 float64 score # confidence of the detection, 1.0 if not given Rect rect # bounding box, x-y is center point Point2D[] corners # corners of the code or the marker, empty for the objects .. _msg-DetectionArray: opencv_apps/msg/DetectionArray ------------------------------ .. code-block:: text Detection[] detections .. _msg-DetectionArrayStamped: opencv_apps/msg/DetectionArrayStamped ------------------------------------- .. code-block:: text std_msgs/Header header Detection[] detections .. _msg-Face: opencv_apps/msg/Face -------------------- .. code-block:: text Rect face Rect[] eyes string label float64 confidence .. _msg-FaceArray: opencv_apps/msg/FaceArray ------------------------- .. code-block:: text Face[] faces .. _msg-FaceArrayStamped: opencv_apps/msg/FaceArrayStamped -------------------------------- .. code-block:: text std_msgs/Header header Face[] faces .. _msg-Flow: opencv_apps/msg/Flow -------------------- .. code-block:: text Point2D point Point2D velocity .. _msg-FlowArray: opencv_apps/msg/FlowArray ------------------------- .. code-block:: text Flow[] flow bool[] status .. _msg-FlowArrayStamped: opencv_apps/msg/FlowArrayStamped -------------------------------- .. code-block:: text std_msgs/Header header Flow[] flow bool[] status .. _msg-FlowStamped: opencv_apps/msg/FlowStamped --------------------------- .. code-block:: text std_msgs/Header header Flow flow .. _msg-Keypoint: opencv_apps/msg/Keypoint ------------------------ .. code-block:: text # a keypoint of a skeleton, e.g. a joint of a person estimated by dnn_pose_estimation string name # name of the keypoint, e.g. nose, left_shoulder float64 x # position in the image float64 y float64 visibility # probability that the keypoint is visible (not occluded) in the image, 0 to 1 float64 presence # probability that the keypoint is within the image, 0 to 1 .. _msg-Line: opencv_apps/msg/Line -------------------- .. code-block:: text Point2D pt1 Point2D pt2 .. _msg-LineArray: opencv_apps/msg/LineArray ------------------------- .. code-block:: text Line[] lines .. _msg-LineArrayStamped: opencv_apps/msg/LineArrayStamped -------------------------------- .. code-block:: text std_msgs/Header header Line[] lines .. _msg-Moment: opencv_apps/msg/Moment ---------------------- .. code-block:: text # spatial moments float64 m00 float64 m10 float64 m01 float64 m20 float64 m11 float64 m02 float64 m30 float64 m21 float64 m12 float64 m03 # central moments float64 mu20 float64 mu11 float64 mu02 float64 mu30 float64 mu21 float64 mu12 float64 mu03 # central normalized moments float64 nu20 float64 nu11 float64 nu02 float64 nu30 float64 nu21 float64 nu12 float64 nu03 # center of mass m10/m00, m01/m00 Point2D center float64 length float64 area .. _msg-MomentArray: opencv_apps/msg/MomentArray --------------------------- .. code-block:: text Moment[] moments .. _msg-MomentArrayStamped: opencv_apps/msg/MomentArrayStamped ---------------------------------- .. code-block:: text std_msgs/Header header Moment[] moments .. _msg-Point2D: opencv_apps/msg/Point2D ----------------------- .. code-block:: text float64 x float64 y .. _msg-Point2DArray: opencv_apps/msg/Point2DArray ---------------------------- .. code-block:: text Point2D[] points .. _msg-Point2DArrayStamped: opencv_apps/msg/Point2DArrayStamped ----------------------------------- .. code-block:: text std_msgs/Header header Point2D[] points .. _msg-Point2DStamped: opencv_apps/msg/Point2DStamped ------------------------------ .. code-block:: text std_msgs/Header header Point2D point .. _msg-Rect: opencv_apps/msg/Rect -------------------- .. code-block:: text # opencv Rect data type, x-y is center point float64 x float64 y float64 width float64 height .. _msg-RectArray: opencv_apps/msg/RectArray ------------------------- .. code-block:: text Rect[] rects .. _msg-RectArrayStamped: opencv_apps/msg/RectArrayStamped -------------------------------- .. code-block:: text std_msgs/Header header Rect[] rects .. _msg-RotatedRect: opencv_apps/msg/RotatedRect --------------------------- .. code-block:: text float64 angle Point2D center Size size .. _msg-RotatedRectArray: opencv_apps/msg/RotatedRectArray -------------------------------- .. code-block:: text RotatedRect[] rects .. _msg-RotatedRectArrayStamped: opencv_apps/msg/RotatedRectArrayStamped --------------------------------------- .. code-block:: text std_msgs/Header header RotatedRect[] rects .. _msg-RotatedRectStamped: opencv_apps/msg/RotatedRectStamped ---------------------------------- .. code-block:: text std_msgs/Header header RotatedRect rect .. _msg-Size: opencv_apps/msg/Size -------------------- .. code-block:: text float64 width float64 height .. _msg-Skeleton: opencv_apps/msg/Skeleton ------------------------ .. code-block:: text # a skeleton (the keypoints of a pose), e.g. a person estimated by dnn_pose_estimation string label # class of the skeleton, e.g. person int32 id # id of the skeleton, the same while it is tracked over the images, or -1 float64 score # confidence of the pose Rect rect # bounding box of the keypoints, x-y is center point Keypoint[] keypoints # keypoints in the order of the model, e.g. the 33 landmarks of MediaPipe .. _msg-SkeletonArray: opencv_apps/msg/SkeletonArray ----------------------------- .. code-block:: text Skeleton[] skeletons .. _msg-SkeletonArrayStamped: opencv_apps/msg/SkeletonArrayStamped ------------------------------------ .. code-block:: text std_msgs/Header header Skeleton[] skeletons .. _msg-FaceRecognitionTrain: opencv_apps/srv/FaceRecognitionTrain ------------------------------------ .. code-block:: text sensor_msgs/Image[] images Rect[] rects string[] labels --- bool ok string error .. _msg-SetROI: opencv_apps/srv/SetROI ---------------------- .. code-block:: text # Set the region of interest, e.g. the target of the tracking node. # The image on which the rect is given. If it is empty (no data), the rect is set on the next input image. sensor_msgs/Image image # The region of interest, x-y is its center point as in opencv_apps/Rect. Rect rect --- bool ok string error