Closed mistermult closed 5 years ago
Why not simply use a Detection3DArray for ground truth? In my experience, it's really useful to use the same format for the ground truth and the detections:
This package is called vision_msgs
because I designed it for use with systems that detect and classify using visual information. So I never planned to represent the world in a way that was not informed by visual information.
The problem is that one has to define an arbitrary bounding box and one can set multiple hypothesis per bounding box. But I understand that this package only deals with vision messages. So I understand that this is not added.
What's the reason for all this messages? We want to detect objects in images or point clouds to build a model of the real world. The real world exists even if there are there is no image taken of it. So we need a message that only contains objects but does not reference images or point clouds. Applications:
Therefore I suggest ObjectHypothesisArray.msg