diff --git a/msg/BoundingBox2D.msg b/msg/BoundingBox2D.msg index cdfcdec..e42f54d 100644 --- a/msg/BoundingBox2D.msg +++ b/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 diff --git a/msg/BoundingBox3D.msg b/msg/BoundingBox3D.msg index 9c3e60d..00713ad 100644 --- a/msg/BoundingBox3D.msg +++ b/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 diff --git a/msg/Classification2D.msg b/msg/Classification2D.msg index 7a9df4b..1f0178d 100644 --- a/msg/Classification2D.msg +++ b/msg/Classification2D.msg @@ -1,15 +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. 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 -# threshold. +# 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 \ No newline at end of file diff --git a/msg/Classification3D.msg b/msg/Classification3D.msg index ccbf240..cf7f962 100644 --- a/msg/Classification3D.msg +++ b/msg/Classification3D.msg @@ -1,7 +1,7 @@ # 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. Header header @@ -9,5 +9,5 @@ Header header 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 \ No newline at end of file diff --git a/msg/Detection3D.msg b/msg/Detection3D.msg index efe9edb..7a3405f 100644 --- a/msg/Detection3D.msg +++ b/msg/Detection3D.msg @@ -14,6 +14,6 @@ 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 diff --git a/msg/ObjectHypothesisWithPose.msg b/msg/ObjectHypothesisWithPose.msg index 9c32a98..fcf5e43 100644 --- a/msg/ObjectHypothesisWithPose.msg +++ b/msg/ObjectHypothesisWithPose.msg @@ -10,10 +10,11 @@ int64 id 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. +# 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 \ No newline at end of file diff --git a/msg/VisionInfo.msg b/msg/VisionInfo.msg index 063b1c4..6e40a47 100644 --- a/msg/VisionInfo.msg +++ b/msg/VisionInfo.msg @@ -21,11 +21,11 @@ string method # 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. +# 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 diff --git a/test/main.cpp b/test/main.cpp index 00ee959..53dfcab 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -34,10 +34,10 @@ TEST(vision_msgs, CreateAABB3D) 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.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); @@ -46,5 +46,5 @@ TEST(vision_msgs, CreateAABB3D) int main(int argc, char** argv) { ::testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); + return RUN_ALL_TESTS(); } \ No newline at end of file