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ros-perception / vision_msgs

Algorithm-agnostic computer vision message types for ROS.
Apache License 2.0
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Messages to contain uncertainty information #42

Closed SteveMacenski closed 3 years ago

SteveMacenski commented 3 years ago

In reviewing the messages, I see they are missing measures of uncertainty in the detections / output values. It would be valuable information to communicate to downstream uses of these messages.

mintar commented 3 years ago

Actually, that field already exists. It's called score:

https://github.com/Kukanani/vision_msgs/blob/82dda4ab3affb6e7c142054f86c7a897f0b8b41e/msg/ObjectHypothesis.msg#L8-L10

Kukanani commented 3 years ago

Martin's right. We also provide covariance information for the detected pose:

https://github.com/Kukanani/vision_msgs/blob/82dda4ab3affb6e7c142054f86c7a897f0b8b41e/msg/ObjectHypothesisWithPose.msg#L20

SteveMacenski commented 3 years ago

I was primarily looking at the bounding box messages, which do not contain any score / covariance information. After more looking, it seems that those messages are supposed to be a component of the Detection / Classification messages so that's all good.

Thanks