unifying 2D and 3D messages (ros-perception#2)

* unified ObjectHypothesis 2D and 3D in ObjectHypothesisWithPose

* better description and attempt in normalizing fields

also changed datatype to uint32 as we are in the pixel space for 2D BB

* changed DetectionXD.msg to use generic ObjectHypothesisWithPose

CMakeLists.txt

@@ -50,8 +50,7 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
   FILES
   ObjectHypothesis.msg
-  ObjectHypothesis2D.msg
-  ObjectHypothesis3D.msg
+  ObjectHypothesisWithPose.msg
   ClassifierInfo.msg
   Classification2D.msg
   Classification3D.msg

msg/BoundingBox2D.msg

@@ -1,9 +1,9 @@
 # Note: This message plans to move to geometry_msgs in the final implementation.
 
-# The x/y position and (optional) rotation of the bounding box center.
-geometry_msgs/Pose2D pose
+# The 2D position (in pixels) and orientation of the bounding box origin.
+geometry_msgs/Pose2D origin
 
-# (Optional) The size of the bounding box surrounding the object. The center of
-# the bounding box is the position of the pose.
-float32 bbox_size_x
-float32 bbox_size_y
+# The size (in pixels) of the bounding box surrounding the object relative 
+# to the pose of its origin
+uint32 size_x
+uint32 size_y

msg/BoundingBox3D.msg

@@ -1,7 +1,8 @@
 # Note: This message plans to move to geometry_msgs in the final implementation.
 
-# position and rotation of the bounding box
-geometry_msgs/Pose pose
+# The 3D position and orientation of the bounding box origin
+geometry_msgs/Pose origin
 
-# size of the bounding box
-geometry_msgs/Vector3 size
+# The size of the bounding box surrounding the object relative to the pose of 
+# its origin
+geometry_msgs/Vector3 size

msg/Detection2D.msg

@@ -7,7 +7,7 @@
 Header header
 
 # Class probabilities
-vision_msgs/ObjectHypothesis2D[] results
+vision_msgs/ObjectHypothesisWithPose[] results
 
 # 2D bounding box surrounding the object.
 

msg/Detection3D.msg

@@ -8,7 +8,7 @@ Header header
 
 # Class probabilities. Does not have to include hypotheses for all possible
 # object ids, the scores for any ids not listed are assumed to be 0.
-vision_msgs/ObjectHypothesis3D[] results
+vision_msgs/ObjectHypothesisWithPose[] 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.