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ObjectDetection.msg
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ObjectDetection.msg
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std_msgs/Header header
geometry_msgs/PoseWithCovariance pose # Detected object pose (in header.frame_id coordinates)
# Coordinate systems in the object center except for L wall.
# Passage orientation should be pointing into the window. Y axis aligns with window width.
# Bricks, x axis aligns with shortest dimension.
# L-shaped wall. xy axis in the down-left corner, with the x east and the y north.
# U-channel: orientation between [-pi/2,pi/2]. Y axis aligns with longest channel size
geometry_msgs/Point point_of_interest # Detected point of interest (in header.frame_id coordinates)
geometry_msgs/Point relative_position # DEPRECATED!
float32 relative_yaw # DEPRECATED!
geometry_msgs/Vector3 scale # Detected object size
uint8 type # Detected object type (see TYPE_* constants below)
uint8 color # Detected object color (see COLOR_* constats below)
ThermalImage image_detection # Detected object on image plane
bool is_cropped
uint8 TYPE_UNKNOWN = 0
uint8 TYPE_BALLOON = 1
uint8 TYPE_BALL = 2
uint8 TYPE_BRICK = 4
uint8 TYPE_BRICK_TRACK = 5
uint8 TYPE_UCHANNEL = 6
uint8 TYPE_LWALL = 7
uint8 TYPE_FIRE = 8
uint8 TYPE_HOLE = 9
uint8 TYPE_PASSAGE = 10
int8 BRICK_COLORS = 4
uint8 COLOR_UNKNOWN = 0
uint8 COLOR_RED = 1
uint8 COLOR_GREEN = 2
uint8 COLOR_BLUE = 3
uint8 COLOR_ORANGE = 4
uint8 COLOR_WHITE = 5
uint8 COLOR_FIRE = 6