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The SIC framework includes a number of predefined extended subclasses for common data types. This allows for inheritance. Make sure to use or extend these classes if the data type you will be working with matches one of these pre-defined types.

The message messages can be found in https://bitbucket.org/socialroboticshub/docker/src/v3/sic/sic_framework/core/datamessage_python2.py .

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 can be significantly slower. Only use this if the image data must be kept untouched. For example, if you want to send an array of depth values, because you don’t want those values to be changed (8cm might become 7.3cm with JPEGCompressedImageMessage).

AudioMessage

Preferred way of sending a message containing audio. The audio must 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.

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