lasr_vision_msgs

Messages required for vision processing

This package is maintained by:

• Paul Makles

Prerequisites

This package depends on the following ROS packages:

• catkin (buildtool)
• message_generation (build)
• message_runtime (exec)
• sensor_msgs (build)
• sensor_msgs (exec)

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Usage

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Technical Overview

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ROS Definitions

Launch Files

This package has no launch files.

Messages

Detection

Field	Type	Description
name	string	Detected Object Class
confidence	float32	How certain we are this is what we think it is
xywh	int32[]	Bounding box mask defined in pixel-space
xyseg	int32[]	Segmentation mask defined in pixel-space This will be empty if a segmentation model was not used

Services

YoloDetection

Request

Field	Type	Description
image_raw	sensor_msgs/Image	Image to run inference on
dataset	string	YOLO model to use
confidence	float32	How certain the detection should be to include
nms	float32	Non-maximum Supression Guiding value to remove overlapping bounding boxes

Response

Field	Type	Description
detected_objects	lasr_vision_msgs/Detection[]	Detection result

Actions

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