Add mask_box anchor to SegmentationMask - #291
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The mask bitmap covers mask_box (the raw detection position), while ObjectDetection.bounding_box may be smoothed by tracking. Clients should scale the mask to mask_box, falling back to bounding_box when unset. Counts stay packed uint16 LE: runs longer than 65535 are split with zero-length runs of the opposite class. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
No deployed drones publish masks without mask_box, so clients should always scale the mask to mask_box. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Summary
BoundingBox mask_box = 4toSegmentationMask: the image region the mask bitmap covers, pinned to the raw detection position. Clients should scale the mask tomask_boxinstead ofObjectDetection.bounding_box(which may be smoothed by tracking).countsstays packed uint16 LE. Runs longer than 65535 pixels are split drone-side with zero-length runs of the opposite class, which existing decoders handle naturally (a zero-length run toggles the class and contributes no pixels). This is now documented on the message.Part of a four-repo change with BlueyeCV, p2_msgs, and p2_drone.
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