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We have defined a couple of common datatypes and already implemented SICMessage-extended classes for thoseThe SIC framework includes a number of predefined extended subclasses for common data types. This allows for inheritance. Please Make sure to use or extend those these classes if the datatype data type you will be working with matches on one of the these pre-defined types.

The message can be found in https://bitbucket.org/socialroboticshub/docker/src/v3/sic/sic_framework/core/data_python2.py.

JPEGCompressedImageMessage

UncompressedImageMessage

AudioMessage

BoundingBoxesMessage

Message class name

Description of use

JPEGCompressedImageMessage

Preferred way of sending any message containing an image. Uses lossy JPEG compression on WxHx3 images. Non-image content will be destroyed by this compression.

UncompressedImageMessage

Same as JPEGCompressedImageMessage, but without compression. This means that this message is can be significantly slower. Only use this if the image data must be kept untouched.

AudioMessage

Preferred way of sending any a message containing audio. The audio must contain contain pulse-code modulated (PCM) 16-bit signed integer waveform audio data.

BoundingBoxesMessage

Preferred way of sending any message containing a list of BoundingBox objects. The BoundingBox is a generic class for single bounding boxes in x,y,w,h-format. x,y represents top-left pixel. Bounding boxes can easily be drawn by calling draw_on_image.