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[msg] Added an ObjectView array to the Object, Person, and Face msgs
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This makes the ObjectViews message obsolete, so I also removed that
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alex-mitrevski committed Aug 7, 2020
1 parent df46bfd commit aa247f8
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Showing 5 changed files with 12 additions and 14 deletions.
1 change: 0 additions & 1 deletion CMakeLists.txt
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Expand Up @@ -37,7 +37,6 @@ add_message_files(
ObjectEmbedding.msg
ObjectList.msg
ObjectView.msg
ObjectViews.msg
NamedColor.msg
NamedShape.msg
Person.msg
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8 changes: 5 additions & 3 deletions msg/Face.msg
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@@ -1,5 +1,7 @@
float32 leftEyeCenterX # postion of the left eye of the face
float32 leftEyeCenterX # position of the left eye of the face
float32 leftEyeCenterY
float32 rightEyeCenterX # postion of the right eye of the face
float32 rightEyeCenterX # position of the right eye of the face
float32 rightEyeCenterY
sensor_msgs/Image image # image of the face

mas_perception_msgs/ObjectView[] views # extracted views of the face (RGB image, point cloud, image embedding);
# an array since we may have multiple views of the same person
9 changes: 4 additions & 5 deletions msg/Object.msg
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Expand Up @@ -22,11 +22,10 @@ NamedColor dominant_color
# object shape
NamedShape shape

# Extracted RGB image of the image
sensor_msgs/Image rgb_image

# Segmented cluster that represents the object
sensor_msgs/PointCloud2 pointcloud
# View representation including an RGB image of the object, a point cloud,
# and potentially an embedding of the image. An array since we may have
# multiple views of the same object
mas_perception_msgs/ObjectView[] views

# The bounding box of the object
mas_perception_msgs/BoundingBox bounding_box
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3 changes: 0 additions & 3 deletions msg/ObjectViews.msg

This file was deleted.

5 changes: 3 additions & 2 deletions msg/Person.msg
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Expand Up @@ -2,8 +2,9 @@ string identity # unique string that identify the person
string name # given name, e.g. 'John Doe'
float32 age
mas_perception_msgs/Face face
sensor_msgs/Image body_image # extracted RGB image of the person
sensor_msgs/PointCloud2 body_points # extracted point cloud of the person

mas_perception_msgs/ObjectView views # extracted views of the person (RGB image, point cloud, image embedding);
# an array since we may have multiple views of the same person

string[] attribute_names # e.g. gender, emotion,...
string[] attributes # e.g. male, angry,...
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