Raw Message Definition
# Provides meta-information about a visual pipeline.
# This message serves a similar purpose to sensor_msgs/CameraInfo, but instead
# of being tied to hardware, it represents information about a specific
# computer vision pipeline. This information stays constant (or relatively
# constant) over time, and so it is wasteful to send it with each individual
# result. By listening to these messages, subscribers will receive
# the context in which published vision messages are to be interpreted.
# Each vision pipeline should publish its VisionInfo messages to its own topic,
# in a manner similar to CameraInfo.
# Used for sequencing
# Name of the vision pipeline. This should be a value that is meaningful to an
# outside user.
# Location where the metadata database is stored. The recommended location is
# as an XML string on the ROS parameter server, but the exact implementation
# and information is left up to the user.
# The database should store information attached to class ids. Each
# class id should map to an atomic, visually recognizable element. This
# definition is intentionally vague to allow extreme flexibility. The
# elements could be classes in a pixel segmentation algorithm, object classes
# in a detector, different people's faces in a face detection algorithm, etc.
# Vision pipelines report results in terms of numeric IDs, which map into
# this database.
# The information stored in this database is, again, left up to the user. The
# database could be as simple as a map from ID to class name, or it could
# include information such as object meshes or colors to use for
# Metadata database version. This counter is incremented
# each time the pipeline begins using a new version of the database (useful
# in the case of online training or user modifications).
# The counter value can be monitored by listeners to ensure that the pipeline
# and the listener are using the same metadata.
Compact Message Definition