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Add point queries and clean up GetMasks2D message. #24

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Dec 22, 2023
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Add point queries and clean up GetMasks2D message. #24

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13 changes: 10 additions & 3 deletions moveit_studio_msgs/moveit_studio_vision_msgs/action/GetMasks2D.action
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,19 @@
# Image to segment.
sensor_msgs/Image image

# Text strings describing the objects to segment. Only masks of objects matching the strings
# will be returned.
# Text strings describing the objects to segment. Only masks of objects matching at least one string
# will be returned. If no string is passed, this filter is disabled.
# If the model has a finite vocabulary, each string is an existing class label, e.g. button, door handle.
# If the model is open-vocabulary, each string is a freeform description, e.g. flat red button, door with black handle.
# If the model is open-vocabulary, each string is a freeform description, e.g. flat red button, door with
# black handle.
string[] valid_classes

# Image points indicating the objects to segment. Only masks containing at least one point will be returned.
# If no points are passed, this filter is disabled.
# Points are expressed in a frame with origin at the top-left corner of the image, with its x axis pointing
# right, and its y axis point down. The z coordinate is not used.
geometry_msgs/Point32[] valid_points

# Segmentation parameters. They are stored as key-value pairs because they are
# specific to the segmentation model being run by the action server.
moveit_studio_sdk_msgs/BehaviorParameter[] parameters
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