I've been requested to provide an overall feedback to the proposal. Please find below my comments. In general I feel the effort very valuable and useful. However, from my side, I'd like to add some comments to the proposal: BoundingBoxXD.msg: - Do we need to agree where is the origin of the BB (top-left, center, ...)? If so, say it explicitly in the message comments. - It's not rigurous to provide a pose (point+orientation) to something called "origin" which implicitly is just a point. May be calling it "pose" or "origin_pose" is more adequate. - size in 2D is implemented with two ints, while in 3D is as a vector3 double. I'm trying to imagine if there is some situation where a float-2DBB is required (subpixel approaches) . Just warning on that. DetectionXD.msg - Sometimes detectors provide also uncertainty on the pose-space of the detection. Providing just a BB for the spatial-related data of a detection does not allow to give this valuable data, specially in fusion (i.e tracking) algorithms requiring to work with pose-space uncertainty. Lack of Services - Think about if it could be useful to add some services in the package, mainly based on the proposed messages. Thus, allowing detectors to work in a client-server mode, with customizable requests. Best Regards, and thanks again for the effort! --- [Visit Topic](https://discourse.ros.org/t/proposal-new-computer-vision-message-standards/1819/27) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: