Clarify size in BoundingBox2D, BoundingBox3D.

[mistermult]

The code says that it is:

# The size of the bounding box, in meters, surrounding the object's center
#   pose.
geometry_msgs/Vector3 size

# The size (in pixels) of the bounding box surrounding the object relative
#   to the pose of its center.
float64 size_x
float64 size_y

Is this size_x/size[0] the distance to the center (halfsize) or the extent in x-direction?

[Martin Günther]

It's the size, i.e., the extent in x-/y-direction. I agree that the comment could be clearer - what does the bounding box center have to do with its size?

[mistermult]

I guess these are oriented bounding boxes and the orientation is saved in the center. That means if you rotate by pi/2 around z, the extent in x/y direction is interchanged :)

[Steve Macenski]

Now(-ish) would be a good junction to clarify this. Would something like The absolute size (in pixels)... fix this issue? I think that makes it clear its the total size, not the half size. I can submit a couple of patches to close this ticket out before the ros-perception/vision_msgs discourse announcement post.

[Adam Allevato]

absolute size or total size would seem to clear it up for me. We should also probably clarify that relative to the pose of its center includes orientation (i.e. the x and y axes are expressed in the frame defined by the the center field).

[Steve Macenski]

I don't think we need to change the name of the field in the message, I think we just need to add a comment to clarify what the value means.