From 8e08b27984ad1d0bfe7fc24779d90f170de219a6 Mon Sep 17 00:00:00 2001
From: Sanic <Sanic@users.noreply.github.com>
Date: Thu, 30 Mar 2023 15:33:05 +0200
Subject: [PATCH] Added additional fields to GenericImgProcAnnotator.action to
 allow actoin servers to work with already detected things

---
 action/GenericImgProcAnnotator.action | 15 +++++++++++++--
 1 file changed, 13 insertions(+), 2 deletions(-)

diff --git a/action/GenericImgProcAnnotator.action b/action/GenericImgProcAnnotator.action
index 91dcc61..5fa5e4e 100644
--- a/action/GenericImgProcAnnotator.action
+++ b/action/GenericImgProcAnnotator.action
@@ -1,6 +1,14 @@
 #goal
 sensor_msgs/Image rgb
 sensor_msgs/Image depth
+
+# A list of bounding boxes of already detected things in either 'rgb' or 'depth'
+sensor_msgs/RegionOfInterest[] bb_detections
+# A list of image masks of already detected things in either 'rgb' or 'depth'
+sensor_msgs/Image[] mask_detections
+# A list of class names of already detected things in either 'rgb' or 'depth'
+string[] class_names
+
 string description
 
 ---
@@ -8,12 +16,15 @@ string description
 bool success
 string result_feedback
 
-# A list of bounding boxes for all detected objects
+# A list of bounding boxes for all detected things
 sensor_msgs/RegionOfInterest[] bounding_boxes
 
 # Class IDs for each entry in bounding_boxes
 int32[] class_ids
 
+# Class names for each entry in bounding_boxes
+string[] class_names
+
 # Class confidence for each entry in bounding_boxes
 float32[] class_confidences
 
@@ -24,7 +35,7 @@ sensor_msgs/Image image
 # The best pose for each entry in bounding_boxes
 geometry_msgs/Pose[] pose_results
 
-# Array-based string feedback when generating text for all detected objects etc.
+# Array-based string feedback when generating text for all detected things etc.
 string[] descriptions
 
 ---
-- 
GitLab