From 9f72a5116cf750ea3b8bb537cae640ca609b0ab8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bar=C4=B1=C5=9F=20Zeren?= <baris@leodrive.ai>
Date: Mon, 9 Dec 2024 13:46:28 +0300
Subject: [PATCH 1/2] feat: add instance segmentation msg
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Barış Zeren <baris@leodrive.ai>
---
 autoware_perception_msgs/CMakeLists.txt           |  2 ++
 autoware_perception_msgs/msg/SegmentationMask.msg | 11 +++++++++++
 autoware_perception_msgs/package.xml              |  1 +
 3 files changed, 14 insertions(+)
 create mode 100644 autoware_perception_msgs/msg/SegmentationMask.msg

diff --git a/autoware_perception_msgs/CMakeLists.txt b/autoware_perception_msgs/CMakeLists.txt
index 2f20869..c4d840c 100644
--- a/autoware_perception_msgs/CMakeLists.txt
+++ b/autoware_perception_msgs/CMakeLists.txt
@@ -13,6 +13,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/PredictedObjectKinematics.msg"
   "msg/PredictedObjects.msg"
   "msg/PredictedPath.msg"
+  "msg/SegmentationMask.msg"
   "msg/Shape.msg"
   "msg/TrackedObject.msg"
   "msg/TrackedObjectKinematics.msg"
@@ -27,6 +28,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 
   DEPENDENCIES
     std_msgs
+    sensor_msgs
     geometry_msgs
     builtin_interfaces
     unique_identifier_msgs
diff --git a/autoware_perception_msgs/msg/SegmentationMask.msg b/autoware_perception_msgs/msg/SegmentationMask.msg
new file mode 100644
index 0000000..50353bb
--- /dev/null
+++ b/autoware_perception_msgs/msg/SegmentationMask.msg
@@ -0,0 +1,11 @@
+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.
+ObjectClassification[] classification
+
+sensor_msgs/Image image # Mask image
\ No newline at end of file
diff --git a/autoware_perception_msgs/package.xml b/autoware_perception_msgs/package.xml
index 80d5912..7f7b59b 100644
--- a/autoware_perception_msgs/package.xml
+++ b/autoware_perception_msgs/package.xml
@@ -14,6 +14,7 @@
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
   <depend>unique_identifier_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>

From a27f1e821ed3e31593bfe19c68dd5f944afe4362 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Mon, 9 Dec 2024 15:25:29 +0000
Subject: [PATCH 2/2] style(pre-commit): autofix

---
 autoware_perception_msgs/msg/SegmentationMask.msg | 2 +-
 autoware_perception_msgs/package.xml              | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_perception_msgs/msg/SegmentationMask.msg b/autoware_perception_msgs/msg/SegmentationMask.msg
index 50353bb..649b6f5 100644
--- a/autoware_perception_msgs/msg/SegmentationMask.msg
+++ b/autoware_perception_msgs/msg/SegmentationMask.msg
@@ -8,4 +8,4 @@ std_msgs/Header header
 # The relationship between pixels and label IDs continues in this way.
 ObjectClassification[] classification
 
-sensor_msgs/Image image # Mask image
\ No newline at end of file
+sensor_msgs/Image image # Mask image
diff --git a/autoware_perception_msgs/package.xml b/autoware_perception_msgs/package.xml
index 7f7b59b..cd24779 100644
--- a/autoware_perception_msgs/package.xml
+++ b/autoware_perception_msgs/package.xml
@@ -13,8 +13,8 @@
 
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
-  <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
   <depend>unique_identifier_msgs</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>