[ros-users] [Discourse.ros.org] [Computer Vision / Perception] Proposal - New Computer Vision Message Standards

Andreu Corominas-Murtra ros.discourse at gmail.com
Thu Jun 1 08:04:41 UTC 2017

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:


- 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.


- 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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