• 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/aruco_detection.launch
  • • node_name [default: aruco_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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • dictionary [default: DICT_4X4_50] — Predefined dictionary of the markers, e.g. DICT_4X4_50, DICT_6X6_250, DICT_ARUCO_ORIGINAL, DICT_APRILTAG_36h11
    • marker_length [default: 0.0] — Length of the side of the markers in meters, to publish their poses with the camera info (use_camera_info:=true), 0 not to publish
    • rectified [default: false] — The image is rectified (e.g. image_rect of image_proc), then the poses are estimated with the intrinsics of P of the camera info without distortion, instead of K and D
• launch/background_subtraction.launch
  • • node_name [default: background_subtraction]
    • 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 the foreground mask
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • method [default: 0] — Background subtraction method, 0: MOG2, 1: KNN, 2: MOG, 3: GMG, 4: CNT, 5: GSOC, 6: LSBP (MOG, GMG, CNT, GSOC and LSBP need the bgsegm module of opencv_contrib, otherwise MOG2 is used)
    • learning_rate [default: -1.0] — Learning rate of the background model, negative: automatically chosen, 0: not updated, 1: reinitialized from the last frame (CNT, GSOC and LSBP may still update the model at 0, and GMG, GSOC and LSBP do not reinitialize it at 1)
• launch/barcode_detection.launch
  • • node_name [default: barcode_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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
• launch/blob_detection.launch
  • • node_name [default: blob_detection]
    • image [default: image] — The image topic, typically a binary mask (e.g. hsv_color_filter/image). 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 the detected blobs
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • threshold_step [default: 10.0] — Step of the thresholds from min_threshold to max_threshold
    • min_threshold [default: 50.0] — The minimum threshold to binarize the image
    • max_threshold [default: 220.0] — The maximum threshold (exclusive) to binarize the image
    • min_repeatability [default: 2] — The minimum number of the binarized images in which a blob is detected
    • min_dist_between_blobs [default: 10.0] — The blobs located closer than min_dist_between_blobs are merged
    • filter_by_color [default: true] — Filter the blobs by the color of the center
    • blob_color [default: 255] — 0 to extract dark blobs and 255 to extract light blobs
    • filter_by_area [default: true] — Filter the blobs by the area
    • min_area [default: 25.0] — The minimum area (inclusive) of the blobs [pixel]
    • max_area [default: 100000.0] — The maximum area (exclusive) of the blobs [pixel]
    • filter_by_circularity [default: false] — Filter the blobs by the circularity (4*pi*area/perimeter^2)
    • min_circularity [default: 0.8] — The minimum circularity (inclusive) of the blobs
    • max_circularity [default: 1.0] — The maximum circularity (exclusive) of the blobs, 1.0 means no limit
    • filter_by_inertia [default: false] — Filter the blobs by the inertia ratio (the minimum / maximum second central moment, the square of minor axis / major axis for an ellipse, 0: line, 1: circle)
    • min_inertia_ratio [default: 0.1] — The minimum inertia ratio (inclusive) of the blobs
    • max_inertia_ratio [default: 1.0] — The maximum inertia ratio (exclusive) of the blobs, 1.0 means no limit
    • filter_by_convexity [default: false] — Filter the blobs by the convexity (area / area of convex hull)
    • min_convexity [default: 0.95] — The minimum convexity (inclusive) of the blobs
    • max_convexity [default: 1.0] — The maximum convexity (exclusive) of the blobs, 1.0 means no limit
• 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.
    • x [default: 0] — Center x of the rectangle to track.
    • y [default: 0] — Center y of the rectangle to track.
    • width [default: 0] — Width of the rectangle to track, 0 for none: at startup the histogram is used instead, setting it to 0 at runtime stops tracking.
    • height [default: 0] — Height of the rectangle to track, 0 for none: at startup the histogram is used instead, setting it to 0 at runtime stops tracking.
• launch/compare_histogram.launch
  • • node_name [default: compare_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 the histogram
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • histogram_size [default: 64] — Number of bins of the histogram of each channel
    • histogram_comparison_type [default: 0] — Histogram comparison method. 0: Correlation, 1: Chi-Square, 2: Intersection, 3: Bhattacharyya
    • reference_histogram [default: []] — Reference of the histogram comparison: channels x histogram_size numbers in the layout of ~histogram, i.e. [b0, b1, ..., g0, g1, ..., r0, r1, ...] for BGR images, [v0, v1, ...] for gray images. A YAML list of integers and/or decimals (newlines are fine). [] to disable the comparison.
• 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/dnn_depth_estimation.launch
  • • node_name [default: dnn_depth_estimation]
    • 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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • model [default: ] — Path or URL of the model (onnx) of the same input and output as MiDaS, empty for MiDaS v2.1 small
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • input_width [default: 256] — Width of the network input, 256 for MiDaS v2.1 small
    • input_height [default: 256] — Height of the network input, 256 for MiDaS v2.1 small
• launch/dnn_face_detection.launch
  • • node_name [default: dnn_face_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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • model [default: ] — Path or URL of the YuNet model (onnx), empty for the default for this OpenCV version
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • score_threshold [default: 0.9] — Threshold of the score to detect the faces
    • nms_threshold [default: 0.3] — Threshold of the overlap of the faces to suppress, by non maximum suppression
    • top_k [default: 5000] — Number of the candidates to keep before non maximum suppression
• launch/dnn_face_recognition.launch
  • • node_name [default: dnn_face_recognition]
    • 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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • detection_model [default: ] — Path or URL of the YuNet face detection model (onnx), empty for the default for this OpenCV version
    • recognition_model [default: ] — Path or URL of the SFace face recognition model (onnx), empty for the default
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • score_threshold [default: 0.9] — Threshold of the score to detect the faces
    • match_threshold [default: 0.363] — Threshold of the cosine similarity to recognize the face as the trained one
    • data_dir [default: ~/.ros/opencv_apps/dnn_face_data] — Directory to save and load the trained faces
• launch/dnn_facial_expression_recognition.launch
  • • node_name [default: dnn_facial_expression_recognition]
    • 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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • detection_model [default: ] — Path or URL of the YuNet model (onnx), empty for the default for this OpenCV version
    • recognition_model [default: ] — Path or URL of the facial expression recognition model (onnx), empty for MobileFaceNet of opencv_zoo
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • score_threshold [default: 0.9] — Threshold of the score to detect the faces
    • nms_threshold [default: 0.3] — Threshold of the overlap of the faces to suppress, by non maximum suppression
    • top_k [default: 5000] — Number of the candidates to keep before non maximum suppression
• launch/dnn_hand_pose_estimation.launch
  • • node_name [default: dnn_hand_pose_estimation]
    • 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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • palm_detection_model [default: ] — Path or URL of the MediaPipe palm detection model (onnx), empty for palm_detection_mediapipe_2023feb.onnx of opencv_zoo
    • hand_pose_estimation_model [default: ] — Path or URL of the MediaPipe hand pose estimation model (onnx), empty for handpose_estimation_mediapipe_2023feb.onnx of opencv_zoo
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • confidence_threshold [default: 0.5] — Threshold of the confidence to detect the palms and to estimate the hands
    • nms_threshold [default: 0.3] — Threshold of the overlap of the hands to suppress, by non maximum suppression
    • tracking [default: true] — Track the hands by their poses in the previous image, as MediaPipe, and run the palm detection every detection_interval images, otherwise every image
    • detection_interval [default: 10] — Interval of the palm detection to find the new hands while tracking
    • smoothing [default: true] — Smooth the landmarks of the tracked hands by One Euro filter
    • smoothing_min_cutoff [default: 0.05] — Minimum cutoff frequency (Hz) of One Euro filter, smaller is smoother when still
    • smoothing_beta [default: 80.0] — Speed coefficient of One Euro filter, larger follows the fast motion with less lag
    • smoothing_derivative_cutoff [default: 1.0] — Cutoff frequency (Hz) of the velocity of One Euro filter
• launch/dnn_image_classification.launch
  • • node_name [default: dnn_image_classification]
    • 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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • model [default: ] — Path or URL of the model (onnx), empty for PP-ResNet50 of opencv_zoo, e.g. MobileNet of opencv_zoo (OpenCV 4.9 or later)
    • classes [default: ] — Path or URL of the class names of the model, one class per line, or empty for the 1000 classes of ImageNet
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • input_width [default: 224] — Width of the network input
    • input_height [default: 224] — Height of the network input
    • top_k [default: 5] — Number of the classes to publish
    • softmax [default: true] — Apply softmax to the output of the model to get the probabilities, true for the models whose output is the logits (e.g. PP-ResNet50 and MobileNet of opencv_zoo), false for the models whose output is the probabilities
• launch/dnn_object_detection.launch
  • • node_name [default: dnn_object_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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • model_type [default: yolox] — yolox for the YOLOX models (onnx), or detection_model for the models of cv::dnn::DetectionModel, e.g. YOLO (darknet), SSD (caffe, tensorflow), with config, input_width, input_height, scale and swap_rb
    • model [default: ] — Path or URL of the model (e.g. .onnx, .weights), empty for YOLOX-S trained on COCO of opencv_zoo
    • config [default: ] — Path or URL of the network configuration (e.g. .cfg) of the model, or empty
    • classes [default: ] — Path or URL of the class names, one name per line, or empty for the classes of COCO for yolox
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • input_width [default: 640] — Width of the network input, a multiple of 32 for yolox
    • input_height [default: 640] — Height of the network input, a multiple of 32 for yolox
    • scale [default: 0.00392156862745098] — Multiplier of the pixel values for the network input, for detection_model
    • swap_rb [default: true] — Swap the red and blue channels, true for the models trained in RGB, for detection_model
    • confidence_threshold [default: 0.5] — Threshold of the confidence to detect the objects
    • nms_threshold [default: 0.4] — Threshold of the overlap of the objects to suppress, by non maximum suppression
• launch/dnn_pose_estimation.launch
  • • node_name [default: dnn_pose_estimation]
    • 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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • person_detection_model [default: ] — Path or URL of the MediaPipe person detection model (onnx), empty for person_detection_mediapipe_2023mar.onnx of opencv_zoo
    • pose_estimation_model [default: ] — Path or URL of the MediaPipe pose estimation model (onnx), empty for pose_estimation_mediapipe_2023mar.onnx of opencv_zoo
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • confidence_threshold [default: 0.5] — Threshold of the confidence to detect the persons and to estimate their poses
    • nms_threshold [default: 0.3] — Threshold of the overlap of the persons to suppress, by non maximum suppression
    • tracking [default: true] — Track the persons by their poses in the previous image, as MediaPipe, and run the person detection every detection_interval images, otherwise every image
    • detection_interval [default: 10] — Interval of the person detection to find the new persons while tracking
    • smoothing [default: true] — Smooth the landmarks of the tracked persons by One Euro filter
    • smoothing_min_cutoff [default: 0.05] — Minimum cutoff frequency (Hz) of One Euro filter, smaller is smoother when still
    • smoothing_beta [default: 80.0] — Speed coefficient of One Euro filter, larger follows the fast motion with less lag
    • smoothing_derivative_cutoff [default: 1.0] — Cutoff frequency (Hz) of the velocity of One Euro filter
• launch/dnn_semantic_segmentation.launch
  • • node_name [default: dnn_semantic_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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • model [default: ] — Path or URL of the model whose output is the scores of the classes for each pixel, empty for PP-HumanSeg of opencv_zoo
    • classes [default: ] — Path or URL of the class names of the model, one name per line, the first one is the background, or empty for background and person of PP-HumanSeg
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • input_width [default: 192] — Width of the network input
    • input_height [default: 192] — Height of the network input
    • scale [default: 0.00784313725490196] — Multiplier of the pixel values for the network input
    • mean [default: 127.5] — Mean subtracted from the pixel values before the scale
    • swap_rb [default: true] — Swap the red and blue channels, true for the models trained in RGB
• launch/dnn_text_detection.launch
  • • node_name [default: dnn_text_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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • detection_model [default: ] — Path or URL of the text detection model of DB (onnx), empty for DB (ResNet-18, IC15) of opencv_zoo
    • recognition_model [default: ] — Path or URL of the text recognition model of CRNN (onnx), empty for CRNN (English) of opencv_zoo, or none to detect the text only
    • vocabulary [default: ] — Path or URL of the vocabulary of the recognition model, one character per line, or empty for 0-9 and a-z of CRNN (English)
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • input_width [default: 736] — Width of the input of the detection model, a multiple of 32
    • input_height [default: 736] — Height of the input of the detection model, a multiple of 32
    • binary_threshold [default: 0.3] — Threshold of the text probability of the pixels
    • polygon_threshold [default: 0.5] — Threshold of the score of the text regions
    • unclip_ratio [default: 2.0] — Ratio to expand the detected text regions
    • max_candidates [default: 200] — Maximum number of the text regions
• launch/dnn_tracking.launch
  • • node_name [default: dnn_tracking]
    • 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 tracking image
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • tracking_algorithm [default: -1] — Tracking algorithm -1: the newest one of this OpenCV (VitTrack, NanoTrack or DaSiamRPN), 0: DaSiamRPN, 1: NanoTrack (OpenCV 4.7 or later), 2: VitTrack (OpenCV 4.9 or later)
    • backend [default: auto] — Backend of cv::dnn: auto, cpu, opencl, opencl_fp16, cuda or cuda_fp16. auto uses CUDA when OpenCV is built with CUDA and a CUDA device is found, and the CPU otherwise.
    • dasiamrpn_model [default: ] — dasiamrpn_model.onnx of DaSiamRPN, a path or URL (downloaded to ~/.ros/opencv_apps/models/ at the first time), empty for the default
    • dasiamrpn_kernel_cls1 [default: ] — dasiamrpn_kernel_cls1.onnx of DaSiamRPN, a path or URL (downloaded to ~/.ros/opencv_apps/models/ at the first time), empty for the default
    • dasiamrpn_kernel_r1 [default: ] — dasiamrpn_kernel_r1.onnx of DaSiamRPN, a path or URL (downloaded to ~/.ros/opencv_apps/models/ at the first time), empty for the default
    • nanotrack_backbone [default: ] — Backbone model (onnx) of NanoTrack, a path or URL (downloaded to ~/.ros/opencv_apps/models/ at the first time), empty for the default (NanoTrack v2)
    • nanotrack_neckhead [default: ] — Neck and head model (onnx) of NanoTrack, a path or URL (downloaded to ~/.ros/opencv_apps/models/ at the first time), empty for the default (NanoTrack v2)
    • vittrack_model [default: ] — Model (onnx) of VitTrack, a path or URL (downloaded to ~/.ros/opencv_apps/models/ at the first time), empty for the default (object_tracking_vittrack_2023sep.onnx of opencv_zoo)
• 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 degrees.
    • 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/line_segment_detector.launch
  • • node_name [default: line_segment_detector]
    • 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 line segment image
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • lsd_refine_type [default: 0] — Line Segment Detector Modes. 0: No refinement applied, 1: Standard refinement is applied, 2, Advanced refinement is applied.
    • lsd_scale [default: 0.8] — The scale of the image that will be used to find the lines. Range [0.1..1]
    • lsd_sigma_scale [default: 0.6] — Sigma for Gaussian filter. It is computed as sigma = _sigma_scale/_scale
    • lsd_quant [default: 2.0] — Bound to the quantization error on the gradient norm
    • lsd_angle_threshold [default: 22.5] — Gradient angle tolerance in degrees
    • lsd_log_eps [default: 0.0] — Detection threshold: -log10(NFA) > log_eps. Used only when advanced refinement is chosen
    • lsd_density_threshold [default: 0.7] — Minimal density of aligned region points in the enclosing rectangle
    • lsd_n_bins [default: 1024] — Number of bins in pseudo-ordering of gradient modulus
    • lsd_line_length_threshold [default: 100.0] — Threshold of line length. Shorter lines are not published nor drawn.
• 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/match_template.launch
  • • node_name [default: match_template]
    • 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 the match, the template can be selected with mouse on the window
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • match_method [default: 5] — Matching method. 0: TM_SQDIFF, 1: TM_SQDIFF_NORMED, 2: TM_CCORR, 3: TM_CCORR_NORMED, 4: TM_CCOEFF, 5: TM_CCOEFF_NORMED
    • match_threshold [default: 0.0] — Minimum similarity of a match (score of TM_CCORR_NORMED and TM_CCOEFF_NORMED, 1 - score of TM_SQDIFF_NORMED), not used by the methods which are not normalized
    • max_matches [default: 1] — Maximum number of the matches. 1: the best match only, more than 1: the matches above match_threshold, after a non-maximum suppression
    • template_file [default: ] — File name of the template image, it is replaced by the image on ~template topic
    • mask_file [default: ] — File name of the mask image of the template (non-zero pixels are used), it is replaced by the image on ~mask topic
• 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] — Radius of the kernel, whose size is 2 * morph_size + 1.
• 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] — Padding of the detection window in pixels, of cv::HOGDescriptor::detectMultiScale().
    • 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/qrcode_detection.launch
  • • node_name [default: qrcode_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 the result
    • queue_size [default: 3] — Specify queue_size of input image subscribers
• 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/tracking.launch
  • • node_name [default: tracking]
    • 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 tracking image
    • queue_size [default: 3] — Specify queue_size of input image subscribers
    • tracking_algorithm [default: 4] — Tracking algorithm 0: MIL, 1: BOOSTING, 2: MEDIANFLOW, 3: TLD, 4: KCF, 6: MOSSE, 7: CSRT
• 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
• launch/adding_images.launch.xml
  • • node_name [default: adding_images]
    • image1 [default: image1]
    • image2 [default: image2]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • alpha [default: 0.5]
    • gamma [default: 0.0]
    • approximate_sync [default: false]
• launch/aruco_detection.launch.xml
  • • node_name [default: aruco_detection]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • dictionary [default: DICT_4X4_50]
    • marker_length [default: 0.0]
    • rectified [default: false]
• launch/background_subtraction.launch.xml
  • • node_name [default: background_subtraction]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • method [default: 0]
    • learning_rate [default: -1.0]
• launch/barcode_detection.launch.xml
  • • node_name [default: barcode_detection]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
• launch/blob_detection.launch.xml
  • • node_name [default: blob_detection]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • threshold_step [default: 10.0]
    • min_threshold [default: 50.0]
    • max_threshold [default: 220.0]
    • min_repeatability [default: 2]
    • min_dist_between_blobs [default: 10.0]
    • filter_by_color [default: true]
    • blob_color [default: 255]
    • filter_by_area [default: true]
    • min_area [default: 25.0]
    • max_area [default: 100000.0]
    • filter_by_circularity [default: false]
    • min_circularity [default: 0.8]
    • max_circularity [default: 1.0]
    • filter_by_inertia [default: false]
    • min_inertia_ratio [default: 0.1]
    • max_inertia_ratio [default: 1.0]
    • filter_by_convexity [default: false]
    • min_convexity [default: 0.95]
    • max_convexity [default: 1.0]
• launch/camshift.launch.xml
  • • node_name [default: camshift]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • 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]]
    • vmin [default: 10]
    • vmax [default: 230]
    • smin [default: 60]
    • x [default: 0]
    • y [default: 0]
    • width [default: 0]
    • height [default: 0]
• launch/compare_histogram.launch.xml
  • • node_name [default: compare_histogram]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • histogram_size [default: 64]
    • histogram_comparison_type [default: 0]
    • reference_histogram [default: ]
• launch/contour_moments.launch.xml
  • • node_name [default: contour_moments]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • canny_low_threshold [default: 100]
• launch/convex_hull.launch.xml
  • • node_name [default: convex_hull]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • threshold [default: 100]
• launch/corner_harris.launch.xml
  • • node_name [default: corner_harris]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • threshold [default: 200]
• launch/discrete_fourier_transform.launch.xml
  • • node_name [default: discrete_fourier_transform]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 1]
• launch/dnn_depth_estimation.launch.xml
  • • node_name [default: dnn_depth_estimation]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • model [default: ]
    • backend [default: auto]
    • input_width [default: 256]
    • input_height [default: 256]
• launch/dnn_face_detection.launch.xml
  • • node_name [default: dnn_face_detection]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • model [default: ]
    • backend [default: auto]
    • score_threshold [default: 0.9]
    • nms_threshold [default: 0.3]
    • top_k [default: 5000]
• launch/dnn_face_recognition.launch.xml
  • • node_name [default: dnn_face_recognition]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • detection_model [default: ]
    • recognition_model [default: ]
    • backend [default: auto]
    • score_threshold [default: 0.9]
    • match_threshold [default: 0.363]
    • data_dir [default: ~/.ros/opencv_apps/dnn_face_data]
• launch/dnn_facial_expression_recognition.launch.xml
  • • node_name [default: dnn_facial_expression_recognition]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • detection_model [default: ]
    • recognition_model [default: ]
    • backend [default: auto]
    • score_threshold [default: 0.9]
    • nms_threshold [default: 0.3]
    • top_k [default: 5000]
• launch/dnn_hand_pose_estimation.launch.xml
  • • node_name [default: dnn_hand_pose_estimation]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • palm_detection_model [default: ]
    • hand_pose_estimation_model [default: ]
    • backend [default: auto]
    • confidence_threshold [default: 0.5]
    • nms_threshold [default: 0.3]
    • tracking [default: true]
    • detection_interval [default: 10]
    • smoothing [default: true]
    • smoothing_min_cutoff [default: 0.05]
    • smoothing_beta [default: 80.0]
    • smoothing_derivative_cutoff [default: 1.0]
• launch/dnn_image_classification.launch.xml
  • • node_name [default: dnn_image_classification]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • model [default: ]
    • classes [default: ]
    • backend [default: auto]
    • input_width [default: 224]
    • input_height [default: 224]
    • top_k [default: 5]
    • softmax [default: true]
• launch/dnn_object_detection.launch.xml
  • • node_name [default: dnn_object_detection]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • model_type [default: yolox]
    • model [default: ]
    • config [default: ]
    • classes [default: ]
    • backend [default: auto]
    • input_width [default: 640]
    • input_height [default: 640]
    • scale [default: 0.00392156862745098]
    • swap_rb [default: true]
    • confidence_threshold [default: 0.5]
    • nms_threshold [default: 0.4]
• launch/dnn_pose_estimation.launch.xml
  • • node_name [default: dnn_pose_estimation]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • person_detection_model [default: ]
    • pose_estimation_model [default: ]
    • backend [default: auto]
    • confidence_threshold [default: 0.5]
    • nms_threshold [default: 0.3]
    • tracking [default: true]
    • detection_interval [default: 10]
    • smoothing [default: true]
    • smoothing_min_cutoff [default: 0.05]
    • smoothing_beta [default: 80.0]
    • smoothing_derivative_cutoff [default: 1.0]
• launch/dnn_semantic_segmentation.launch.xml
  • • node_name [default: dnn_semantic_segmentation]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • model [default: ]
    • classes [default: ]
    • backend [default: auto]
    • input_width [default: 192]
    • input_height [default: 192]
    • scale [default: 0.00784313725490196]
    • mean [default: 127.5]
    • swap_rb [default: true]
• launch/dnn_text_detection.launch.xml
  • • node_name [default: dnn_text_detection]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • detection_model [default: ]
    • recognition_model [default: ]
    • vocabulary [default: ]
    • backend [default: auto]
    • input_width [default: 736]
    • input_height [default: 736]
    • binary_threshold [default: 0.3]
    • polygon_threshold [default: 0.5]
    • unclip_ratio [default: 2.0]
    • max_candidates [default: 200]
• launch/dnn_tracking.launch.xml
  • • node_name [default: dnn_tracking]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • tracking_algorithm [default: -1]
    • backend [default: auto]
    • dasiamrpn_model [default: ]
    • dasiamrpn_kernel_cls1 [default: ]
    • dasiamrpn_kernel_r1 [default: ]
    • nanotrack_backbone [default: ]
    • nanotrack_neckhead [default: ]
    • vittrack_model [default: ]
• launch/edge_detection.launch.xml
  • • node_name [default: edge_detection]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • edge_type [default: 0]
    • canny_threshold1 [default: 100]
    • canny_threshold2 [default: 200]
    • apertureSize [default: 3]
    • apply_blur_pre [default: true]
    • postBlurSize [default: 13]
    • postBlurSigma [default: 3.2]
    • apply_blur_post [default: false]
    • L2gradient [default: false]
• launch/equalize_histogram.launch.xml
  • • node_name [default: equalize_histogram]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • histogram_equalization_type [default: 0]
    • clahe_clip_limit [default: 255.0]
    • clahe_tile_size_x [default: 300]
    • clahe_tile_size_y [default: 300]
    • use_opencl [default: true]
• launch/face_detection.launch.xml
  • • node_name [default: face_detection]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml]
    • eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml]
• launch/face_recognition.launch.xml
  • • launch_face_detection [default: true]
    • launch_trainer [default: true]
    • debug_view [default: true]
    • queue_size [default: 100]
    • image [default: image]
    • data_dir [default: ~/.ros/opencv_apps/face_data]
• launch/fback_flow.launch.xml
  • • node_name [default: fback_flow]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
• launch/find_contours.launch.xml
  • • node_name [default: find_contours]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • canny_low_threshold [default: 10]
• launch/general_contours.launch.xml
  • • node_name [default: general_contours]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • threshold [default: 100]
• launch/goodfeature_track.launch.xml
  • • node_name [default: goodfeature_track]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • max_corners [default: 23]
• launch/hls_color_filter.launch.xml
  • • node_name [default: hls_color_filter]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • h_limit_max [default: 250]
    • h_limit_min [default: 0]
    • s_limit_max [default: 255]
    • s_limit_min [default: 150]
    • l_limit_max [default: 255]
    • l_limit_min [default: 50]
• launch/hough_circles.launch.xml
  • • node_name [default: hough_circles]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • canny_threshold [default: 200.0]
    • accumulator_threshold [default: 50.0]
    • gaussian_blur_size [default: 9]
    • gaussian_sigma_x [default: 2.0]
    • gaussian_sigma_y [default: 2.0]
    • dp [default: 2.0]
    • min_circle_radius [default: 0]
    • max_circle_radius [default: 0]
• launch/hough_lines.launch.xml
  • • node_name [default: hough_lines]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • hough_type [default: 0]
    • threshold [default: 150]
    • rho [default: 1.0]
    • theta [default: 1.0]
    • minLineLength [default: 30.0]
    • maxLineGrap [default: 10.0]
• launch/hsv_color_filter.launch.xml
  • • node_name [default: hsv_color_filter]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • h_limit_max [default: 250]
    • h_limit_min [default: 0]
    • s_limit_max [default: 255]
    • s_limit_min [default: 150]
    • v_limit_max [default: 255]
    • v_limit_min [default: 50]
• launch/lab_color_filter.launch.xml
  • • node_name [default: lab_color_filter]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • l_limit_max [default: 255]
    • l_limit_min [default: 50]
    • a_limit_max [default: 250]
    • a_limit_min [default: 0]
    • b_limit_max [default: 255]
    • b_limit_min [default: 150]
• launch/line_segment_detector.launch.xml
  • • node_name [default: line_segment_detector]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • lsd_refine_type [default: 0]
    • lsd_scale [default: 0.8]
    • lsd_sigma_scale [default: 0.6]
    • lsd_quant [default: 2.0]
    • lsd_angle_threshold [default: 22.5]
    • lsd_log_eps [default: 0.0]
    • lsd_density_threshold [default: 0.7]
    • lsd_n_bins [default: 1024]
    • lsd_line_length_threshold [default: 100.0]
• launch/lk_flow.launch.xml
  • • node_name [default: lk_flow]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • quality_level [default: 0.01]
    • min_distance [default: 10]
    • block_size [default: 3]
    • harris_k [default: 0.04]
• launch/match_template.launch.xml
  • • node_name [default: match_template]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • match_method [default: 5]
    • match_threshold [default: 0.0]
    • max_matches [default: 1]
    • template_file [default: ]
    • mask_file [default: ]
• launch/morphology.launch.xml
  • • node_name [default: morphology]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • morph_operator [default: 0]
    • morph_element [default: 0]
    • morph_size [default: 0]
• launch/people_detect.launch.xml
  • • node_name [default: people_detect]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • hit_threshold [default: 0.0]
    • win_stride [default: 8]
    • padding [default: 32]
    • scale0 [default: 1.05]
    • group_threshold [default: 2]
• launch/phase_corr.launch.xml
  • • node_name [default: phase_corr]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
• launch/pyramids.launch.xml
  • • node_name [default: pyramids]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • pyramids_type [default: 0]
    • num_of_pyramids [default: 1]
• launch/qrcode_detection.launch.xml
  • • node_name [default: qrcode_detection]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
• launch/rgb_color_filter.launch.xml
  • • node_name [default: rgb_color_filter]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • r_limit_max [default: 250]
    • r_limit_min [default: 50]
    • g_limit_max [default: 200]
    • g_limit_min [default: 100]
    • b_limit_max [default: 150]
    • b_limit_min [default: 20]
• launch/segment_objects.launch.xml
  • • node_name [default: segment_objects]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
• launch/simple_flow.launch.xml
  • • node_name [default: simple_flow]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • scale [default: 8]
• launch/smoothing.launch.xml
  • • node_name [default: smoothing]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • filter_type [default: 0]
    • kernel_size [default: 7]
• launch/threshold.launch.xml
  • • node_name [default: threshold]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • apply_otsu [default: false]
    • threshold_type [default: 0]
    • threshold [default: 150]
    • max_binary [default: 255]
• launch/tracking.launch.xml
  • • node_name [default: tracking]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]
    • tracking_algorithm [default: 4]
• launch/watershed_segmentation.launch.xml
  • • node_name [default: watershed_segmentation]
    • image [default: image]
    • use_camera_info [default: false]
    • debug_view [default: true]
    • queue_size [default: 3]

• Circle [Source]
• CircleArray [Source]
• CircleArrayStamped [Source]
• Contour [Source]
• ContourArray [Source]
• ContourArrayStamped [Source]
• Detection [Source]
• DetectionArray [Source]
• DetectionArrayStamped [Source]
• Face [Source]
• FaceArray [Source]
• FaceArrayStamped [Source]
• Flow [Source]
• FlowArray [Source]
• FlowArrayStamped [Source]
• FlowStamped [Source]
• Keypoint [Source]
• Line [Source]
• LineArray [Source]
• LineArrayStamped [Source]
• Moment [Source]
• MomentArray [Source]
• MomentArrayStamped [Source]
• Point2D [Source]
• Point2DArray [Source]
• Point2DArrayStamped [Source]
• Point2DStamped [Source]
• Rect [Source]
• RectArray [Source]
• RectArrayStamped [Source]
• RotatedRect [Source]
• RotatedRectArray [Source]
• RotatedRectArrayStamped [Source]
• RotatedRectStamped [Source]
• Size [Source]
• Skeleton [Source]
• SkeletonArray [Source]
• SkeletonArrayStamped [Source]

• FaceRecognitionTrain [Source]
• SetROI [Source]

• nodelet

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