feat(autoware_internal_perception_msgs): add SegmentationMask.msg

Signed-off-by: M. Fatih Cırıt <[email protected]>

autoware_internal_perception_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.14)
+project(autoware_internal_perception_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(msg_files
+  "msg/SegmentationMask.msg"
+)
+
+set(msg_dependencies
+  builtin_interfaces
+  std_msgs
+  sensor_msgs
+  autoware_perception_msgs
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES ${msg_dependencies}
+  ADD_LINTER_TESTS
+)
+
+ament_auto_package()

autoware_internal_perception_msgs/msg/SegmentationMask.msg

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+std_msgs/Header header
+
+# It represent map between instance segmentation mask and labels
+# The pixel intensities in mask's starts with 1 (pixel value 0 represent pixel is not belong any object)
+#     `classification[0]` returns the `label_id` for pixels with an intensity value of `1` in the mask.
+#     `classification[1]` returns the `label_id` for pixels with an intensity value of `2` in the mask.
+#     ...
+# The relationship between pixels and label IDs continues in this way.
+autoware_perception_msgs/ObjectClassification[] classification
+
+sensor_msgs/Image image # Mask image

autoware_internal_perception_msgs/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_internal_perception_msgs</name>
+  <version>1.1.0</version>
+  <description>Autoware internal perception messages package.</description>
+  <maintainer email="[email protected]">M. Fatih Cırıt</maintainer>
+  <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>
+  <maintainer email="[email protected]">Yukihiro Saito</maintainer>
+  <maintainer email="[email protected]">Yutaka Kondo</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <depend>autoware_perception_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>