feat(SegmentationMask): add instance segmentation message

CMakeLists.txt

@@ -8,11 +8,15 @@ set(msg_files
   "msg/PublishedTime.msg"
   "msg/MissionRemainingDistanceTime.msg"
   "msg/ResourceUsageReport.msg"
+  "msg/SegmentationMask.msg"
+  "msg/SegmentationConfig.msg"
 )
 
 set(msg_dependencies
   builtin_interfaces
   std_msgs
+  sensor_msgs
+  autoware_perception_msgs
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}

msg/SegmentationConfig.msg

@@ -0,0 +1,7 @@
+# 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

msg/SegmentationMask.msg

@@ -0,0 +1,5 @@
+std_msgs/Header header
+
+SegmentationConfig config # Stores relation between class and image intensity
+
+sensor_msgs/Image image # Mask image

package.xml

@@ -17,6 +17,8 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
   <depend>builtin_interfaces</depend>
   <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>