Rolled BoundingRect into BoundingBox2D

Added helper functions to make it easier to go from corner-size representation to
center-size representation, plus associated tests.

CMakeLists.txt

@@ -7,8 +7,11 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   geometry_msgs)
 
-add_message_files(FILES
-  BoundingRect.msg
+include_directories(include)
+
+add_message_files(
+  DIRECTORY msg
+  FILES
   BoundingBox2D.msg
   BoundingBox3D.msg
   Classification2D.msg
@@ -33,4 +36,13 @@ catkin_package(CATKIN_DEPENDS
   std_msgs
   sensor_msgs
   geometry_msgs
-)
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+if (CATKIN_ENABLE_TESTING)
+  add_subdirectory(test)
+endif()

README.md

@@ -55,9 +55,6 @@ classifier information.
     be a smartphone lying on its back, or a book lying on its side.
   * BoundingBox2D, BoundingBox3D: orientable rectangular bounding boxes,
     specified by the pose of their center and their size.
-  * BoundingRect2D: A simplified bounding box that uses the OpenCV format:
-    definition of the upper-left corner, as well as width and height of the box.
-    The BoundingRect2D cannot be rotated.
 
 By using a very general message definition, we hope to cover as many of the
 various computer vision use cases as possible. Some examples of use cases that

include/vision_msgs/create_aabb.h

@@ -0,0 +1,69 @@
+// 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.
+
+#ifndef VISION_MSGS_BUILD_BBOX_H_
+#define VISION_MSGS_BUILD_BBOX_H_
+
+#include "vision_msgs/BoundingBox2D.h"
+#include "vision_msgs/BoundingBox3D.h"
+
+namespace vision_msgs
+{
+  /**
+   * Create an axis-aligned bounding box (AABB) given the upper-left corner,
+   * width, and height. This allows easy conversion from the OpenCV rectangle
+   * representation.
+   */
+  static inline BoundingBox2D createAABB2D(uint32_t left,
+                                           uint32_t top,
+                                           uint32_t width,
+                                           uint32_t height)
+  {
+    BoundingBox2D bbox;
+
+    bbox.center.x = left + width/2.0;
+    bbox.center.y = top + height/2.0;
+    bbox.size_x = width;
+    bbox.size_y = height;
+
+    return bbox;
+  }
+
+  /**
+   * Create an axis-aligned bounding box (AABB) given the upper-left-front
+   * corner, width, height, and depth. This allows easy conversion from the
+   * OpenCV rectangle representation.
+   */
+  static inline BoundingBox3D createAABB3D(uint32_t min_x,
+                                           uint32_t min_y,
+                                           uint32_t min_z,
+                                           uint32_t size_x,
+                                           uint32_t size_y,
+                                           uint32_t size_z)
+  {
+    BoundingBox3D bbox;
+
+    bbox.center.position.x = min_x + size_x/2.0;
+    bbox.center.position.y = min_y + size_y/2.0;
+    bbox.center.position.z = min_z + size_z/2.0;
+    bbox.center.orientation.w = 1;
+    bbox.size.x = size_x;
+    bbox.size.y = size_y;
+    bbox.size.z = size_z;
+
+    return bbox;
+  }
+}
+
+#endif

msg/Detection2D.msg

@@ -10,7 +10,7 @@ Header header
 ObjectHypothesisWithPose[] results
 
 # 2D bounding box surrounding the object.
-BoundingRect bbox
+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.

package.xml

@@ -20,5 +20,9 @@
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
 
-  <export></export>
+  <test_depend>rosunit</test_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
 </package>

test/CMakeLists.txt

@@ -0,0 +1,2 @@
+include_directories(${catkin_INCLUDE_DIRS})
+catkin_add_gtest(vision_msgs_test main.cpp)

test/main.cpp

@@ -0,0 +1,50 @@
+// 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/BoundingBox2D.h"
+#include "vision_msgs/BoundingBox3D.h"
+#include "vision_msgs/create_aabb.h"
+
+TEST(vision_msgs, CreateAABB2D)
+{
+  vision_msgs::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::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);   // 3 + 6/2
+  EXPECT_EQ(bbox.center.orientation.y, 0);   // 3 + 6/2
+  EXPECT_EQ(bbox.center.orientation.z, 0);   // 3 + 6/2
+  EXPECT_EQ(bbox.center.orientation.w, 1);   // 3 + 6/2
+  EXPECT_EQ(bbox.size.x, 4);
+  EXPECT_EQ(bbox.size.y, 5);
+  EXPECT_EQ(bbox.size.z, 6);
+}
+
+int main(int argc, char** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}