# Goal definition
int16 id
sensor_msgs/Image image   # usually rgb image
# sensor_msgs/Image depth

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# Result definition
uint16 id
uint16 object_num
# Each object has a mask
maskrcnn_ros/objectInfo[] objects
# label is the sum of all masks
#sensor_msgs/Image label
# label_color not yet used here
#sensor_msgs/Image label_color
# sensor_msgs/Image mask

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# Feedback definition
bool complete