feat: add instance segmentation msg

Signed-off-by: Barış Zeren <baris@leodrive.ai>

Author: Barış Zeren

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

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

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>