Segment.msg

# Message for sorted segment of points.

# Each segment is assigned an id, which uniquely identifies the segment consistently across multiple frames.
# The segments can be linked to previous and next segment using lastPointPriorSeg and firstPointNextSeg, respectively.
# Segment messages can be used as an input to a classifier such as a person detector, or for annotating
# sensor_msgs/Laserscan messages with groundtruth person tracks.

uint64 					id 							0		# Id of the segment
uint32 					label 						0		# Label of the segment
float64 				angular_distance 			0.0		# Angular distance to the closest boundary (in rads)
geometry_msgs/Point 	last_point_prior_segment			# Last point of the previous segment
geometry_msgs/Point 	first_point_next_segment			# First point of the next segment
geometry_msgs/Point[] 	points								# Points per segment

# Type of the labels
uint32 					BACKGROUND = 0
uint32 					PERSON = 1
uint32 					PERSON_CANE = 2
uint32 					PERSON_WHEEL_CHAIR = 3