Merge branch 'kinetic-devel'

msg/Detection2D.msg

@@ -15,3 +15,11 @@ BoundingBox2D bbox
 # The 2D data that generated these results (i.e. region proposal cropped out of
 #   the image). Not required for all use cases, so it may be empty.
 sensor_msgs/Image source_img
+
+# If true, this message contains object tracking information.
+bool is_tracking
+
+# ID used for consistency across multiple detection messages. This value will
+#   likely differ from the id field set in each individual ObjectHypothesis.
+# If you set this field, be sure to also set is_tracking to True.
+string tracking_id

msg/Detection3D.msg

@@ -17,3 +17,11 @@ BoundingBox3D bbox
 #   the image). This information is not required for all detectors, so it may
 #   be empty.
 sensor_msgs/PointCloud2 source_cloud
+
+# If this message was tracking result, this field set true.
+bool is_tracking
+
+# ID used for consistency across multiple detection messages. This value will
+#   likely differ from the id field set in each individual ObjectHypothesis.
+# If you set this field, be sure to also set is_tracking to True.
+string tracking_id

msg/ObjectHypothesis.msg

@@ -1,9 +1,9 @@
 # An object hypothesis that contains no position information.
 
-# The unique numeric ID of object detected. To get additional information about
-#   this ID, such as its human-readable name, listeners should perform a lookup
-#   in a metadata database. See vision_msgs/VisionInfo.msg for more detail.
-int64 id
+# The unique ID of the object class. To get additional information about
+#   this ID, such as its human-readable class name, listeners should perform a
+#   lookup in a metadata database. See vision_msgs/VisionInfo.msg for more detail.
+string id
 
 # The probability or confidence value of the detected object. By convention,
 #   this value should lie in the range [0-1].

msg/ObjectHypothesisWithPose.msg

@@ -1,9 +1,9 @@
 # An object hypothesis that contains position information.
 
-# The unique numeric ID of object detected. To get additional information about
-#   this ID, such as its human-readable name, listeners should perform a lookup
-#   in a metadata database. See vision_msgs/VisionInfo.msg for more detail.
-int64 id
+# The unique ID of the object class. To get additional information about
+#   this ID, such as its human-readable class name, listeners should perform a
+#   lookup in a metadata database. See vision_msgs/VisionInfo.msg for more detail.
+string id
 
 # The probability or confidence value of the detected object. By convention,
 #   this value should lie in the range [0-1].
@@ -17,4 +17,4 @@ float64 score
 #   parent messages.
 # Also note that different classes predicted for the same input data may have
 #   different predicted 6D poses.
-geometry_msgs/PoseWithCovariance pose
+geometry_msgs/PoseWithCovariance pose

msg/VisionInfo.msg

@@ -19,8 +19,8 @@ string method
 # Location where the metadata database is stored. The recommended location is
 #   as an XML string on the ROS parameter server, but the exact implementation
 #   and information is left up to the user.
-# The database should store information attached to numeric ids. Each
-#   numeric id should map to an atomic, visually recognizable element. This
+# The database should store information attached to class ids. Each
+#   class id should map to an atomic, visually recognizable element. This
 #   definition is intentionally vague to allow extreme flexibility. The
 #   elements could be classes in a pixel segmentation algorithm, object classes
 #   in a detector, different people's faces in a face detection algorithm, etc.

test/CMakeLists.txt

@@ -1,2 +1,3 @@
 include_directories(${catkin_INCLUDE_DIRS})
-catkin_add_gtest(vision_msgs_test main.cpp)
+catkin_add_gtest(vision_msgs_test main.cpp)
+add_dependencies(vision_msgs_test ${${PROJECT_NAME}_EXPORTED_TARGETS})