From d75fe43b2c19a5478c85313e0e394eddea05e79e Mon Sep 17 00:00:00 2001 From: Alex Mitrevski Date: Fri, 7 Aug 2020 10:01:14 +0200 Subject: [PATCH 1/4] [msg] Added msgs for representing object views --- CMakeLists.txt | 3 +++ msg/ObjectEmbedding.msg | 1 + msg/ObjectView.msg | 3 +++ msg/ObjectViews.msg | 1 + 4 files changed, 8 insertions(+) create mode 100644 msg/ObjectEmbedding.msg create mode 100644 msg/ObjectView.msg create mode 100644 msg/ObjectViews.msg diff --git a/CMakeLists.txt b/CMakeLists.txt index af8baca..bca06f2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -33,7 +33,10 @@ add_message_files( LaserScanSegmentList.msg MatchingErrorStamped.msg Object.msg + ObjectEmbedding.msg ObjectList.msg + ObjectView.msg + ObjectViews.msg Person.msg PersonList.msg Plane.msg diff --git a/msg/ObjectEmbedding.msg b/msg/ObjectEmbedding.msg new file mode 100644 index 0000000..99ff074 --- /dev/null +++ b/msg/ObjectEmbedding.msg @@ -0,0 +1 @@ +float32[] embedding diff --git a/msg/ObjectView.msg b/msg/ObjectView.msg new file mode 100644 index 0000000..8f72725 --- /dev/null +++ b/msg/ObjectView.msg @@ -0,0 +1,3 @@ +sensor_msgs/Image image +sensor_msgs/PointCloud2 point_cloud +mas_perception_msgs/ObjectEmbedding embedding diff --git a/msg/ObjectViews.msg b/msg/ObjectViews.msg new file mode 100644 index 0000000..419bce5 --- /dev/null +++ b/msg/ObjectViews.msg @@ -0,0 +1 @@ +mas_perception_msgs/ObjectView[] views From 0fdbc18f92c576ed6698f30b7a848040b53cfb9e Mon Sep 17 00:00:00 2001 From: Alex Mitrevski Date: Fri, 7 Aug 2020 10:08:25 +0200 Subject: [PATCH 2/4] [msg/ObjectViews] Added name and category fields --- msg/ObjectViews.msg | 2 ++ 1 file changed, 2 insertions(+) diff --git a/msg/ObjectViews.msg b/msg/ObjectViews.msg index 419bce5..6165b29 100644 --- a/msg/ObjectViews.msg +++ b/msg/ObjectViews.msg @@ -1 +1,3 @@ +string name +string category mas_perception_msgs/ObjectView[] views From aa247f87d0e0f6d8853a88bdac52d6b8cbf61865 Mon Sep 17 00:00:00 2001 From: Alex Mitrevski Date: Fri, 7 Aug 2020 16:15:54 +0200 Subject: [PATCH 3/4] [msg] Added an ObjectView array to the Object, Person, and Face msgs This makes the ObjectViews message obsolete, so I also removed that --- CMakeLists.txt | 1 - msg/Face.msg | 8 +++++--- msg/Object.msg | 9 ++++----- msg/ObjectViews.msg | 3 --- msg/Person.msg | 5 +++-- 5 files changed, 12 insertions(+), 14 deletions(-) delete mode 100644 msg/ObjectViews.msg diff --git a/CMakeLists.txt b/CMakeLists.txt index d72eb95..9cc2cfb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -37,7 +37,6 @@ add_message_files( ObjectEmbedding.msg ObjectList.msg ObjectView.msg - ObjectViews.msg NamedColor.msg NamedShape.msg Person.msg diff --git a/msg/Face.msg b/msg/Face.msg index 2633f62..2ad21e3 100644 --- a/msg/Face.msg +++ b/msg/Face.msg @@ -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 diff --git a/msg/Object.msg b/msg/Object.msg index 15d9ea4..656fd04 100644 --- a/msg/Object.msg +++ b/msg/Object.msg @@ -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 diff --git a/msg/ObjectViews.msg b/msg/ObjectViews.msg deleted file mode 100644 index 6165b29..0000000 --- a/msg/ObjectViews.msg +++ /dev/null @@ -1,3 +0,0 @@ -string name -string category -mas_perception_msgs/ObjectView[] views diff --git a/msg/Person.msg b/msg/Person.msg index 32d82b6..e98ec75 100644 --- a/msg/Person.msg +++ b/msg/Person.msg @@ -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,... From a3ed33e6d08f3adebfee7677013723bb2a74443a Mon Sep 17 00:00:00 2001 From: Alex Mitrevski Date: Fri, 14 Aug 2020 11:14:17 +0200 Subject: [PATCH 4/4] [msg/Person] Fixed wrong field type (views should be an array) --- msg/Person.msg | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/msg/Person.msg b/msg/Person.msg index e98ec75..9c2fc6e 100644 --- a/msg/Person.msg +++ b/msg/Person.msg @@ -3,8 +3,8 @@ string name # given name, e.g. 'John Doe' float32 age mas_perception_msgs/Face face -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 +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,...