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feat(autoware_perception_msgs): add instance segmentation msg #106

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feat(autoware_perception_msgs): add instance segmentation msg #106

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9f72a51
feat: add instance segmentation msg
StepTurtle Dec 9, 2024
a27f1e8
style(pre-commit): autofix
pre-commit-ci[bot] Dec 9, 2024
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2 changes: 2 additions & 0 deletions autoware_perception_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/PredictedObjectKinematics.msg"
"msg/PredictedObjects.msg"
"msg/PredictedPath.msg"
"msg/SegmentationMask.msg"
"msg/Shape.msg"
"msg/TrackedObject.msg"
"msg/TrackedObjectKinematics.msg"
Expand All @@ -27,6 +28,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}

DEPENDENCIES
std_msgs
sensor_msgs
geometry_msgs
builtin_interfaces
unique_identifier_msgs
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11 changes: 11 additions & 0 deletions autoware_perception_msgs/msg/SegmentationMask.msg
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@@ -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
1 change: 1 addition & 0 deletions autoware_perception_msgs/package.xml
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Expand Up @@ -13,6 +13,7 @@

<depend>builtin_interfaces</depend>
<depend>geometry_msgs</depend>
<depend>sensor_msgs</depend>
<depend>std_msgs</depend>
<depend>unique_identifier_msgs</depend>

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