Merge branch 'devel' of github.com:b-it-bots/mas_perception_msgs into…

… feature/object-view-msg

CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(catkin REQUIRED
 add_action_files(DIRECTORY action
   FILES
     DetectScene.action
+    DetectObjects.action
 )
 
 add_message_files(
@@ -26,8 +27,8 @@ add_message_files(
     BoundingBoxList.msg
     BoundingBox2D.msg
     Cavity.msg
+    PeopleScene.msg
     Face.msg
-    FaceList.msg
     ImageList.msg
     LaserScanSegment.msg
     LaserScanSegmentList.msg
@@ -37,6 +38,8 @@ add_message_files(
     ObjectList.msg
     ObjectView.msg
     ObjectViews.msg
+    NamedColor.msg
+    NamedShape.msg
     Person.msg
     PersonList.msg
     Plane.msg

action/DetectObjects.action

@@ -0,0 +1,6 @@
+# Empty Goal
+---
+# Result
+mas_perception_msgs/ObjectList objects
+---
+# Empty Feedback

msg/Face.msg

@@ -1,8 +1,5 @@
-Header header                   # standard header
-uint32 ID						# unique identifier to a face
-string name						# name of the person with this face
-float32 leftEyeCenterX				# postion of the left eye of the face
+float32 leftEyeCenterX      # postion of the left eye of the face
 float32 leftEyeCenterY
-float32 rightEyeCenterX				# postion of the right eye of the face
+float32 rightEyeCenterX     # postion of the right eye of the face
 float32 rightEyeCenterY
-sensor_msgs/Image image			# image of the face
+sensor_msgs/Image image     # image of the face

msg/NamedColor.msg

@@ -0,0 +1,13 @@
+string WHITE=white
+string BLACK=black
+string RED=red
+string GREEN=green
+string BLUE=blue
+string ORANGE=orange
+string YELLOW=yellow
+string BROWN=brown
+string PURPLE=purple
+string PINK=pink
+string OTHER=other
+
+string color

msg/NamedShape.msg

@@ -0,0 +1,7 @@
+string CYLINDER=cylinder
+string BOX=box
+string SPHERE=sphere
+string ELLIPSE=ellipse
+string OTHER=other
+
+string shape

msg/Object.msg

@@ -13,9 +13,15 @@ string category
 # The object's id in a database
 int32 database_id
 
-# Probability 
+# Probability
 float32 probability
 
+# dominant object color
+NamedColor dominant_color
+
+# object shape
+NamedShape shape
+
 # Extracted RGB image of the image
 sensor_msgs/Image rgb_image
 

msg/PeopleScene.msg

@@ -0,0 +1,5 @@
+sensor_msgs/Image scene_image               # store scene image which contain people
+mas_perception_msgs/Person[] people         # list of people in scene
+sensor_msgs/RegionOfInterest[] face_rois    # bounding boxes of people's faces
+sensor_msgs/RegionOfInterest[] body_rois    # bounding boxes of people's full body
+uint32 num_detected_people                  # should match the length of 'people' and ROI fields

msg/Person.msg

@@ -1,21 +1,21 @@
-Header header                   # standard header
-
-uint32 id						# unique identifier to a person
-	
-geometry_msgs/PoseStamped pose	# real pose of a detected person
-
-geometry_msgs/PoseStamped safe_pose		# safety pose for a detected person (to approach by base)
-
-sensor_msgs/Image rgb_image                     # image cropped to the bounding box of the detected person
-
-float32 height					# measured height of the person
-
-float32 width					# measured width of the person 
-
-float32 depth					# measured depth of the person
-
-bool is_tracked					# is the user tracked
-
-bool is_occluded				# is the user occluded 
-
-float32 probability				# probability of beeing a person at this pose
+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
+
+string[] attribute_names                # e.g. gender, emotion,...
+string[] attributes                     # e.g. male, angry,...
+float32[] attribute_confidences         # e.g. 0.71, 0.80,...
+
+geometry_msgs/PoseStamped pose          # 3D pose of the detected person
+
+# fields used by `mcr_people_tracking`, `mcr_leg_detection`, and `mdr_follow_person`
+# potentially removable since the packages themselves are old and not well-maintained and possibly overlapping
+# with 'wg-perception/people'
+Header header
+uint32 id
+bool is_tracked                         # is the user tracked
+bool is_occluded                        # is the user occluded
+float32 probability                     # probability of beeing a person at this pose