> ## Documentation Index
> Fetch the complete documentation index at: https://dragonwingdocs.qualcomm.com/llms.txt
> Use this file to discover all available pages before exploring further.

# QIR SDK API list

This information lists all the APIs you can use on the Qualcomm Linux platforms.

## **Platform APIs**

### **RPLIDAR-ROS2**

| **ROS topic** |        **Message type**       |  **Published/Subscribed by** | **Description**                                                   |
| :-----------: | :---------------------------: | :--------------------------: | :---------------------------------------------------------------- |
|    `/scan`    | `sensor_msgs::msg::LaserScan` | Published by `rplidar-ros2`. | The `/scan` topic publishes the laser scan data from the RPLIDAR. |

### **QRB-ROS-system-monitor**

|     **ROS topic**     |               **Message type**               |     **Published/Subscribed by**    | **Description**                                         |
| :-------------------: | :------------------------------------------: | :--------------------------------: | :------------------------------------------------------ |
|         `/cpu`        |     `qrb_ros_system_monitor::CpuMonitor`     |     Published by `CpuMonitor`.     | Publishes the CPU loading information.                  |
|       `/memory`       |    `qrb_ros_system_monitor::MemoryMonitor`   |    Published by `MemoryMonitor`.   | Publishes the memory usage information.                 |
|        `/disk`        |     `qrb_ros_system_monitor::DiskMonitor`    |     Published by `DiskMonitor`.    | Publishes the disk space information.                   |
|        `/swap`        |     `qrb_ros_system_monitor::SwapMonitor`    |     Published by `SwapMonitor`.    | Publishes the swap space information.                   |
|     `/temperature`    | `qrb_ros_system_monitor::TemperatureMonitor` | Published by `TemperatureMonitor`. | Publishes the CPU temperature.                          |
|       `/battery`      |   `qrb_ros_system_monitor::BatteryMonitor`   |   Published by `BatteryMonitor`.   | Publishes the battery information.                      |
| `/system_info_server` |  `qrb_ros_system_monitor::SystemInfoServer`  |  Published by `SystemInfoServer`.  | Publishes static system information, such as CPU count. |

### **OCR\_service**

|      **ROS topic**      |      **Message type**     |       **Published/Subscribed by**      | **Description**                    |
| :---------------------: | :-----------------------: | :------------------------------------: | :--------------------------------- |
|   `/image_topic_name`   | `<sensor_msgs.msg.Image>` | Subscribes to images from other nodes. | The image received for processing. |
| `/ocr_image_topic_name` |  `<std_msgs.msg.String>`  |       Published by `ocr-rosnode`.      | Publishes the OCR result.          |

{/* ### **QRB\_ROS\_camera**

| **ROS topic** | **Message type** | **Published/Subscribed by** | **Description** |
| :-: | :-: | :-: | :-: |
| `/image` | `sensor_msgs::msg::Image` | Published by `camera`. | Publishes the NV12 encoded image. |
| `/image_info` | `sensor_msgs::msg::CameraInfo` | Published by `camera`. | Publishes the camera information. | */}

### **Orbbec-camera**

|        **ROS topic**        |        **Message type**        |  **Published/Subscribed by**  | **Description**                                 |
| :-------------------------: | :----------------------------: | :---------------------------: | :---------------------------------------------- |
| `/camera/color/camera_info` | `sensor_msgs::msg::CameraInfo` | Published by `orbbec-camera`. | Publishes the color camera information.         |
|  `/camera/color/image_raw`  |    `sensor_msgs::msg::Image`   | Published by `orbbec-camera`. | Publishes the color image.                      |
| `/camera/depth/camera_info` | `sensor_msgs::msg::CameraInfo` | Published by `orbbec-camera`. | Publishes the depth camera information.         |
|  `/camera/depth/image_raw`  |    `sensor_msgs::msg::Image`   | Published by `orbbec-camera`. | Publishes the depth image.                      |
|    `/camera/depth/points`   |          `PointCloud2`         | Published by `orbbec-camera`. | Publishes the depth point cloud.                |
| `/camera/gyro_accel/sample` |     `sensor_msgs::msg::Imu`    | Published by `orbbec-camera`. | Publishes the gyroscope and accelerometer data. |

### **QRB\_ROS\_NN\_inference**

|          **ROS topic**         |               **Message type**              |      **Published/Subscribed by**      | **Description**                                     |
| :----------------------------: | :-----------------------------------------: | :-----------------------------------: | :-------------------------------------------------- |
|  `/qrb_inference_input_tensor` | `qrb_ros_tensor_list_msgs::msg::TensorList` | Subscribed by `qrb_ros_nn_inference`. | Subscribes to the input tensor for model inference. |
| `/qrb_inference_output_tensor` | `qrb_ros_tensor_list_msgs::msg::TensorList` |  Published by `qrb_ros_nn_inference`. | Publishes the output tensor of model.               |

{/* ## **AI sample API list**

<Note>
**Note**

The AI sample uses platform APIs and adds some new features to the platform APIs. Following is a detailed list of APIs.
</Note>

### **Hand detection**

| **ROS topic** | **Message type** | **Published/Subscribed by** | **Description** |
| :-: | :-: | :-: | :-: |
| `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. |
| `/handlandmark_result` | `sensor_msgs.msg.Image` | Published by `qrb_ros_hand_detector`. | Publishes the image with hand landmarks overlaid on the original image. |

### **Image classification**

| **ROS topic** | **Message type** | **Published/Subscribed by** | **Description** |
| :-: | :-: | :-: | :-: |
| `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. |
| `/resnet101_output` | `sensor_msgs.msg.String` | Published by `qrb_ros_resnet101` | Publishes the image classification result. |

### **Depth estimation**

| **ROS topic** | **Message type** | **Published/Subscribed by** | **Description** |
| :-: | :-: | :-: | :-: |
| `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. |
| `/depth_map` | `sensor_msgs.msg.Image` | Published by `sample_depth_estimation`. | Publishes per-pixel depth values as a color map. |

### **Face detection**

| **ROS topic** | **Message type** | **Published/Subscribed by** | **Description** |
| :-: | :-: | :-: | :-: |
| `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. |
| `/mediaface_det_image` | `sensor_msgs.msg.Image` | Published by `qrb_ros_face_detector`. | Publishes the image with face landmarks overlaid on the original image. |

### **HRNet pose estimation**

| **ROS topic** | **Message type** | **Published/Subscribed by** | **Description** |
| :-: | :-: | :-: | :-: |
| `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. |
| `/pose_estimation_results` | `sensor_msgs.msg.Image` | Published by `hrnet_pose_estimation_node`. | Publishes the image with pose estimation results overlaid on the original image. |
| `/pose_estimation_points` | `geometry_msgs.msg.PolygonStamped` | Published by `hrnet_pose_estimation_node`. | Raw keypoint coordinates in a structured message format. | */}