Merge pull request #32 from sloretz/sync_with_kinetic

Sync ros2 with master

CMakeLists.txt

@@ -38,8 +38,21 @@ if (BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
 
   ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(vision_msgs_test test/main.cpp)
+  add_dependencies(vision_msgs_test ${PROJECT_NAME})
+  ament_target_dependencies(vision_msgs_test
+    geometry_msgs
+    std_msgs
+    sensor_msgs
+  )
+  # TODO(sloretz) rosidl_generate_interfaces() should make using generated messages in same project simpler
+  target_include_directories(vision_msgs_test PUBLIC
+    include
+    ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp
+  )
 endif()
 
 ament_export_dependencies(rosidl_default_runtime)
 ament_export_include_directories(include)
-ament_package()
+ament_package()

README.md

@@ -1,4 +1,4 @@
-# ROS Vision Messages Proposal
+# ROS Vision Messages
 
 ## Introduction
 

include/vision_msgs/create_aabb.h

@@ -66,4 +66,4 @@ namespace vision_msgs
   }
 }
 
-#endif
+#endif

msg/BoundingBox2D.msg

@@ -7,7 +7,7 @@
 # The 2D position (in pixels) and orientation of the bounding box center.
 geometry_msgs/Pose2D center
 
-# The size (in pixels) of the bounding box surrounding the object relative 
-# to the pose of its center.
+# The size (in pixels) of the bounding box surrounding the object relative
+#   to the pose of its center.
 float64 size_x
 float64 size_y

msg/BoundingBox3D.msg

@@ -5,5 +5,6 @@
 # The 3D position and orientation of the bounding box center
 geometry_msgs/Pose center
 
-# The size of the bounding box, in meters, surrounding the object's center pose.
+# The size of the bounding box, in meters, surrounding the object's center
+#   pose.
 geometry_msgs/Vector3 size

msg/BoundingBox3DArray.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+vision_msgs/BoundingBox3D[] boxes

msg/Classification2D.msg

@@ -1,14 +1,15 @@
 # Defines a 2D classification result.
 #
 # This result does not contain any position information. It is designed for
-# classifiers, which simply provide class probabilities given a source image.
+#   classifiers, which simply provide class probabilities given a source image.
 
 std_msgs/Header header
 
 # A list of class probabilities. This list need not provide a probability for
-# every possible class, just ones that are nonzero, or above some user-defined
+#   every possible class, just ones that are nonzero, or above some
+#   user-defined threshold.
 ObjectHypothesis[] results
 
 # 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.
+#   the image). Not required for all use cases, so it may be empty.
 sensor_msgs/Image source_img

msg/Classification3D.msg

@@ -1,13 +1,13 @@
 # Defines a 3D classification result.
 #
 # This result does not contain any position information. It is designed for
-# classifiers, which simply provide probabilities given a source image.
+#   classifiers, which simply provide probabilities given a source image.
 
 std_msgs/Header header
 
 # Class probabilities
 ObjectHypothesis[] results
 
 # The 3D data that generated these results (i.e. region proposal cropped out of
-# the image). Not required for all detectors, so it may be empty.
+#   the image). Not required for all detectors, so it may be empty.
 sensor_msgs/PointCloud2 source_cloud

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

@@ -14,6 +14,14 @@ ObjectHypothesisWithPose[] results
 BoundingBox3D bbox
 
 # The 3D data that generated these results (i.e. region proposal cropped out of
-#   the image). This information is not required for all detectors, so it may be
-#   empty.
+#   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

@@ -1,19 +1,20 @@
 # 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].
 float64 score
 
-# the 6D pose of the object hypothesis. This pose should be
-# defined as the pose of some fixed reference point on the object, such as the
-# geometric center of the bounding box or the center of mass of the object.
-# Note that this pose is not stamped; frame information can be defined by parent
-#   messages.
-# Also note that different classes predicted
-#   for the same input data may have different predicted 6D poses.
-geometry_msgs/Pose pose
+# The 6D pose of the object hypothesis. This pose should be
+#   defined as the pose of some fixed reference point on the object, such a
+#   the geometric center of the bounding box or the center of mass of the
+#   object.
+# Note that this pose is not stamped; frame information can be defined by
+#   parent messages.
+# Also note that different classes predicted for the same input data may have
+#   different predicted 6D poses.
+geometry_msgs/PoseWithCovariance pose

msg/VisionInfo.msg

@@ -19,13 +19,13 @@ 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
-#   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.
-#   Vision pipelines report results in terms of numeric IDs, which map into this
-#   database.
+# 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.
+#   Vision pipelines report results in terms of numeric IDs, which map into
+#   this  database.
 # The information stored in this database is, again, left up to the user. The
 #   database could be as simple as a map from ID to class name, or it could
 #   include information such as object meshes or colors to use for

package.xml

@@ -12,6 +12,8 @@
   <license>Apache License 2.0</license>
 
   <author email="adam.d.allevato@gmail.com">Adam Allevato</author>
+  <maintainer email="adam.d.allevato@gmail.com">Adam Allevato</maintainer>
+  <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
@@ -25,6 +27,7 @@
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

test/main.cpp

@@ -0,0 +1,44 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "vision_msgs/msg/bounding_box2_d.hpp"
+#include "vision_msgs/msg/bounding_box3_d.hpp"
+#include "vision_msgs/create_aabb.h"
+
+TEST(vision_msgs, CreateAABB2D)
+{
+  vision_msgs::msg::BoundingBox2D bbox = vision_msgs::createAABB2D(1,2,3,4);
+  EXPECT_FLOAT_EQ(bbox.center.x, 2.5);  // 1 + 3/2
+  EXPECT_FLOAT_EQ(bbox.center.y, 4);    // 2 + 4/2
+  EXPECT_EQ(bbox.size_x, 3);
+  EXPECT_EQ(bbox.size_y, 4);
+  EXPECT_EQ(bbox.center.theta, 0);
+}
+
+TEST(vision_msgs, CreateAABB3D)
+{
+  vision_msgs::msg::BoundingBox3D bbox = vision_msgs::createAABB3D(1,2,3,4,5,6);
+  EXPECT_FLOAT_EQ(bbox.center.position.x, 3);   // 1 + 4/2
+  EXPECT_FLOAT_EQ(bbox.center.position.y, 4.5); // 2 + 5/2
+  EXPECT_FLOAT_EQ(bbox.center.position.z, 6);   // 3 + 6/2
+  EXPECT_EQ(bbox.center.orientation.x, 0);
+  EXPECT_EQ(bbox.center.orientation.y, 0);
+  EXPECT_EQ(bbox.center.orientation.z, 0);
+  EXPECT_EQ(bbox.center.orientation.w, 1);
+  EXPECT_EQ(bbox.size.x, 4);
+  EXPECT_EQ(bbox.size.y, 5);
+  EXPECT_EQ(bbox.size.z, 6);
+}