fix(image_projection_based_fusion): add run length decoding for segmentation_pointcloud_fusion

perception/autoware_image_projection_based_fusion/package.xml

@@ -26,6 +26,7 @@
   <depend>image_transport</depend>
   <depend>message_filters</depend>
   <depend>object_recognition_utils</depend>
+  <depend>perception_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>

perception/autoware_image_projection_based_fusion/src/segmentation_pointcloud_fusion/node.cpp

@@ -16,6 +16,7 @@
 
 #include "autoware/image_projection_based_fusion/utils/geometry.hpp"
 #include "autoware/image_projection_based_fusion/utils/utils.hpp"
+#include "perception_utils/run_length_encoder.hpp"
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
@@ -58,20 +59,12 @@
     return;
   }
   if (!checkCameraInfo(camera_info)) return;
-
-  cv_bridge::CvImagePtr in_image_ptr;
-  try {
-    in_image_ptr = cv_bridge::toCvCopy(
-      std::make_shared<sensor_msgs::msg::Image>(input_mask), input_mask.encoding);
-  } catch (const std::exception & e) {
-    RCLCPP_ERROR(this->get_logger(), "cv_bridge exception:%s", e.what());
+  if (input_mask.height == 0 || input_mask.width == 0) {
     return;
   }
+  std::vector<uint8_t> mask_data(input_mask.data.begin(), input_mask.data.end());
+  cv::Mat mask = perception_utils::runLengthDecoder(mask_data, input_mask.height, input_mask.width);
 
-  cv::Mat mask = in_image_ptr->image;
-  if (mask.cols == 0 || mask.rows == 0) {
-    return;
-  }
   const int orig_width = camera_info.width;
   const int orig_height = camera_info.height;
   // resize mask to the same size as the camera image