• launch/adding_images.launch
  • • node_name [default: adding_images]
    • image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
    • image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • alpha [default: 0.5] — Weight of the first array elements
    • gamma [default: 0] — Scalar added to each sum
    • approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
• launch/camshift.launch
  • • node_name [default: camshift]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
    • vmin [default: 10] — Min threshould of lightness.
    • vmax [default: 230] — Max threshould of lightness.
    • smin [default: 60] — Min value of saturation.
• launch/contour_moments.launch
  • • node_name [default: contour_moments]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • canny_low_threshold [default: 100] — Canny Edge low Threshold
• launch/convex_hull.launch
  • • node_name [default: convex_hull]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • threshold [default: 100] — Treshold for the detecting edges.
• launch/corner_harris.launch
  • • node_name [default: corner_harris]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • threshold [default: 200] — Threshold value of a circle around corners's norm
• launch/discrete_fourier_transform.launch
  • • node_name [default: discrete_fourier_transform]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 1] — Specigy queue_size of input image subscribers
• launch/edge_detection.launch
  • • node_name [default: edge_detection]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
    • canny_threshold1 [default: 100] — Specify second canny threashold value.
    • canny_threshold2 [default: 200] — Specity first canny threashold value.
    • apertureSize [default: 3] — Aperture size for the Sobel() operator.
    • apply_blur_pre [default: true] — Flag, applying Blur() to input image
    • postBlurSize [default: 13] — Aperture size for the Blur() to input image()
    • postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
    • apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
    • L2gradient [default: false] — Flag, L2Gradient
• launch/equalize_histogram.launch
  • • node_name [default: equalize_histogram]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
    • clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
    • clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
    • clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
    • use_opencl [default: true] — Enable or disable OpenCL
• launch/face_detection.launch
  • • node_name [default: face_detection]
    • use_opencv3 [default: false]
    • use_opencv3_1 [default: false]
    • use_opencv3_2 [default: false]
    • use_opencv3_3 [default: $(arg use_opencv3)]
    • use_opencv4 [default: false]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
    • eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
    • face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
    • eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
    • face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
    • eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
    • face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
    • eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
    • face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
    • eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
    • face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
    • eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
• launch/face_recognition.launch
  • • launch_face_detection [default: true]
    • launch_trainer [default: true]
    • use_opencv3 [default: false]
    • use_opencv3_1 [default: false]
    • use_opencv3_2 [default: false]
    • use_opencv3_3 [default: false]
    • use_opencv4 [default: false]
    • debug_view [default: true]
    • queue_size [default: 100] — Specigy queue_size of input image subscribers
    • image [default: image]
    • data_dir [default: ~/.ros/opencv_apps/face_data]
• launch/fback_flow.launch
  • • node_name [default: fback_flow]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
• launch/find_contours.launch
  • • node_name [default: find_contours]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
• launch/general_contours.launch
  • • node_name [default: general_contours]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • threshold [default: 100] — Treshold for the detecting edges.
• launch/goodfeature_track.launch
  • • node_name [default: goodfeature_track]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
• launch/hls_color_filter.launch
  • • node_name [default: hls_color_filter]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • h_limit_max [default: 250] — The maximum allowed field value Hue
    • h_limit_min [default: 0] — The minimum allowed field value Hue
    • s_limit_max [default: 255] — The maximum allowed field value Saturation
    • s_limit_min [default: 150] — The minimum allowed field value Saturation
    • l_limit_max [default: 255] — The maximum allowed field value Luminance
    • l_limit_min [default: 50] — The minimum allowed field value Luminance
• launch/hough_circles.launch
  • • node_name [default: hough_circles]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
    • accumulator_threshold [default: 50] — Threshold for center detection.
    • gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
    • gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
    • gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
    • dp [default: 2] — The inverse ratio of resolution.
    • min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
    • max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
• launch/hough_lines.launch
  • • node_name [default: hough_lines]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
    • threshold [default: 150] — Threshould value for hough line detection
    • rho [default: 1.0] — The resolution of the parameter r in pixels.
    • theta [default: 1.0] — The resolution of the parameter theta in radians.
    • minLineLength [default: 30] — The minimum number of points that can form a line.
    • maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
• launch/hsv_color_filter.launch
  • • node_name [default: hsv_color_filter]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • h_limit_max [default: 250] — The maximum allowed field value Hue
    • h_limit_min [default: 0] — The minimum allowed field value Hue
    • s_limit_max [default: 255] — The maximum allowed field value Saturation
    • s_limit_min [default: 150] — The minimum allowed field value Saturation
    • v_limit_max [default: 255] — The maximum allowed field value Value
    • v_limit_min [default: 50] — The minimum allowed field value Value
• launch/lab_color_filter.launch
  • • node_name [default: lab_color_filter]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • l_limit_max [default: 255] — The maximum allowed field value L*
    • l_limit_min [default: 50] — The minimum allowed field value L*
    • a_limit_max [default: 250] — The maximum allowed field value a*
    • a_limit_min [default: 0] — The minimum allowed field value a*
    • b_limit_max [default: 255] — The maximum allowed field value b*
    • b_limit_min [default: 150] — The minimum allowed field value b*
• launch/lk_flow.launch
  • • node_name [default: lk_flow]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
    • min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
    • block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
    • harris_k [default: 0.04] — Free parameter of the Harris detector
• launch/morphology.launch
  • • node_name [default: morphology]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
    • morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
    • morph_size [default: 0] — Size of the kernel
• launch/people_detect.launch
  • • node_name [default: people_detect]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
    • win_stride [default: 8] — Window stride. It must be a multiple of block stride.
    • padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
    • scale0 [default: 1.05] — Coefficient of the detection window increase.
    • group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
• launch/phase_corr.launch
  • • node_name [default: phase_corr]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
• launch/pyramids.launch
  • • node_name [default: pyramids]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show pyramids image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
    • num_of_pyramids [default: 0] — Number of Up/Down sampling.
• launch/rgb_color_filter.launch
  • • node_name [default: rgb_color_filter]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • r_limit_max [default: 250] — The maximum allowed field value Red
    • r_limit_min [default: 50] — The minimum allowed field value Red
    • g_limit_max [default: 200] — The maximum allowed field value Green
    • g_limit_min [default: 100] — The minimum allowed field value Green
    • b_limit_max [default: 150] — The maximum allowed field value Blue
    • b_limit_min [default: 20] — The minimum allowed field value Blue
• launch/segment_objects.launch
  • • node_name [default: segment_objects]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
• launch/simple_flow.launch
  • • node_name [default: simple_flow]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • scale [default: 8] — Specify the scale factor to calculate optical flow.
• launch/smoothing.launch
  • • node_name [default: smoothing]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
    • kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
• launch/threshold.launch
  • • node_name [default: threshold]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers
    • apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
    • threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
    • threshold [default: 150] — threshold value
    • max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
• launch/watershed_segmentation.launch
  • • node_name [default: watershed_segmentation]
    • image [default: image] — The image topic. Should be remapped to the name of the real image topic.
    • use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
    • debug_view [default: true] — Specify whether the node displays a window to show edge image
    • queue_size [default: 3] — Specigy queue_size of input image subscribers

• msg/Circle.msg
• msg/CircleArray.msg
• msg/CircleArrayStamped.msg
• msg/Contour.msg
• msg/ContourArray.msg
• msg/ContourArrayStamped.msg
• msg/Face.msg
• msg/FaceArray.msg
• msg/FaceArrayStamped.msg
• msg/Flow.msg
• msg/FlowArray.msg
• msg/FlowArrayStamped.msg
• msg/FlowStamped.msg
• msg/Line.msg
• msg/LineArray.msg
• msg/LineArrayStamped.msg
• msg/Moment.msg
• msg/MomentArray.msg
• msg/MomentArrayStamped.msg
• msg/Point2D.msg
• msg/Point2DArray.msg
• msg/Point2DArrayStamped.msg
• msg/Point2DStamped.msg
• msg/Rect.msg
• msg/RectArray.msg
• msg/RectArrayStamped.msg
• msg/RotatedRect.msg
• msg/RotatedRectArray.msg
• msg/RotatedRectArrayStamped.msg
• msg/RotatedRectStamped.msg
• msg/Size.msg

• srv/FaceRecognitionTrain.srv

• nodelet

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