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!
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