I think this ObjectDetection2DSet Comment May be Incorrect

[derkmed]

angel_system/ros/angel_msgs/msg/ObjectDetection2dSet.msg

Line 45 in 49c9391

# [num_detections, len(label_vec)]

When subscribing to topics that publish this message, I did not read a flattened matrix. Instead I read a vector of confidence scores corresponding to the label_vec.

[Purg]

This comment is "correct", but a previous incarnation of the object detector was populating the message incorrectly. The newest Yolo detector that we have added should now be populating this field correctly.

[Purg]

@derkmed Checking in if this explanation was sufficient to close this issue or if there is still something to be resolved.

[derkmed]

Got it. I will double check @Purg . So, each row should correspond to a detected object indicated via one-hot vector. Is that correct?

[Purg]

Got it. I will double check @Purg . So, each row should correspond to a detected object indicated via one-hot vector. Is that correct?

Yes, but the vector is not specifically constrained to be one-hot: it is a per-class confidence vector. Some detector implementations may choose to populate this vector in a one-hot fashion.