refactor person description messages

* remove name & id fields in Face.msg in favor of identity field in Person.msg
* remove safe_pose field in Person.msg, so safety logic will be isolated from data model
* add comments about legacy field in Person.msg, but not removing for compatibility
* remove unused message FaceList.msg
* is motivated by discussion in b-it-bots/mas_domestic_robotics#152

CMakeLists.txt

@@ -26,8 +26,8 @@ add_message_files(
     BoundingBoxList.msg
     BoundingBox2D.msg
     Cavity.msg
+    PeopleScene.msg
     Face.msg
-    FaceList.msg
     ImageList.msg
     LaserScanSegment.msg
     LaserScanSegmentList.msg

msg/Face.msg

@@ -1,8 +1,5 @@
-Header header                   # standard header
-uint32 ID						# unique identifier to a face
-string name						# name of the person with this face
-float32 leftEyeCenterX				# postion of the left eye of the face
+float32 leftEyeCenterX      # postion of the left eye of the face
 float32 leftEyeCenterY
-float32 rightEyeCenterX				# postion of the right eye of the face
+float32 rightEyeCenterX     # postion of the right eye of the face
 float32 rightEyeCenterY
-sensor_msgs/Image image			# image of the face
+sensor_msgs/Image image     # image of the face

msg/PeopleScene.msg

@@ -0,0 +1,4 @@
+sensor_msgs/Image scene_image               # store scene image which contain people
+mas_perception_msgs/Person[] people         # list of people in scene
+sensor_msgs/RegionOfInterest[] face_rois    # bounding boxes of people's faces
+sensor_msgs/RegionOfInterest[] body_rois    # bounding boxes of people's full body

msg/Person.msg

@@ -1,21 +1,20 @@
-Header header                   # standard header
-
-uint32 id						# unique identifier to a person
-
-geometry_msgs/PoseStamped pose	# real pose of a detected person
-
-geometry_msgs/PoseStamped safe_pose		# safety pose for a detected person (to approach by base)
-
-sensor_msgs/Image rgb_image                     # image cropped to the bounding box of the detected person
-
-float32 height					# measured height of the person
-
-float32 width					# measured width of the person 
-
-float32 depth					# measured depth of the person
-
-bool is_tracked					# is the user tracked
-
-bool is_occluded				# is the user occluded 
-
-float32 probability				# probability of beeing a person at this pose
+string identity
+float32 age
+mas_perception_msgs/Face face
+sensor_msgs/Image body_image            # extracted RGB image of the person
+sensor_msgs/PointCloud2 body_points     # extracted point cloud of the person
+
+string[] attribute_names                # e.g. gender, emotion,...
+string[] attributes                     # e.g. male, angry,...
+float32[] attribute_confidences         # e.g. 0.71, 0.80,...
+
+geometry_msgs/PoseStamped pose          # 3D pose of the detected person
+
+# fields used by `mcr_people_tracking`, `mcr_leg_detection`, and `mdr_follow_person`
+# potentially removable since the packages themselves are old and not well-maintained and possibly overlapping
+# with 'wg-perception/people'
+Header header
+uint32 id
+bool is_tracked                         # is the user tracked
+bool is_occluded                        # is the user occluded
+float32 probability                     # probability of beeing a person at this pose