I really like this proposal, there should be a standard for this in my opinion.
In detail, what I like more about Reinzor's message definitions, is that there is a shared [CategoricalDistribution.msg](
https://github.com/tue-robotics/image_recognition/blob/master/image_recognition_msgs/msg/CategoricalDistribution.msg), which takes the role of the ids+scores combination in [Classification2D.msg](
https://github.com/Kukanani/vision_msgs_proposal/blob/master/msg/Classification2D.msg)
I think using the CategorialDistribution reduces a little bit on complexity on the user end, but the difference is very small. Another benefit is that the message definition is reusable.
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