# Defines a 2D detection result.
#
# This is similar to a 2D classification, but includes position information,
#   allowing a classification result for a specific crop or image point to
#   to be located in the larger image.

Header header

# Class probabilities
ObjectHypothesisWithPose[] results

# 2D bounding box surrounding the object.
BoundingBox2D bbox

# The 2D data that generated these results (i.e. region proposal cropped out of
#   the image). Not required for all use cases, so it may be empty.
sensor_msgs/Image source_img

# If this message was tracking result, this field set true.
bool is_tracking

# Unique ID which was set by tracker ROS node.
uuid_msgs/UniqueID tracking_id

# Defines a 3D detection result.
#
# This extends a basic 3D classification by including position information,
#   allowing a classification result for a specific position in an image to
#   to be located in the larger image.

Header header

# Class probabilities. Does not have to include hypotheses for all possible
#   object ids, the scores for any ids not listed are assumed to be 0.
ObjectHypothesisWithPose[] results

# 3D bounding box surrounding the object.
BoundingBox3D bbox

# The 3D data that generated these results (i.e. region proposal cropped out of
#   the image). This information is not required for all detectors, so it may
#   be empty.
sensor_msgs/PointCloud2 source_cloud

# If this message was tracking result, this field set true.
bool is_tracking

# Unique ID which was set by tracker ROS node.
uuid_msgs/UniqueID tracking_id