diff --git a/autoware_internal_perception_msgs/CHANGELOG.rst b/autoware_internal_perception_msgs/CHANGELOG.rst new file mode 100644 index 0000000..e69de29 diff --git a/autoware_internal_perception_msgs/CMakeLists.txt b/autoware_internal_perception_msgs/CMakeLists.txt new file mode 100644 index 0000000..ccb7417 --- /dev/null +++ b/autoware_internal_perception_msgs/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_internal_perception_msgs) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +set(msg_files + "msg/SegmentationMask.msg" +) + +set(msg_dependencies + builtin_interfaces + std_msgs + sensor_msgs + autoware_perception_msgs +) + +rosidl_generate_interfaces(${PROJECT_NAME} + ${msg_files} + DEPENDENCIES ${msg_dependencies} + ADD_LINTER_TESTS +) + +ament_auto_package() diff --git a/autoware_internal_perception_msgs/msg/SegmentationMask.msg b/autoware_internal_perception_msgs/msg/SegmentationMask.msg new file mode 100644 index 0000000..957c02e --- /dev/null +++ b/autoware_internal_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. +autoware_perception_msgs/ObjectClassification[] classification + +sensor_msgs/Image image # Mask image diff --git a/autoware_internal_perception_msgs/package.xml b/autoware_internal_perception_msgs/package.xml new file mode 100644 index 0000000..2d24425 --- /dev/null +++ b/autoware_internal_perception_msgs/package.xml @@ -0,0 +1,32 @@ + + + + autoware_internal_perception_msgs + 1.1.0 + Autoware internal perception messages package. + M. Fatih Cırıt + Ryohsuke Mitsudome + Yukihiro Saito + Yutaka Kondo + Apache License 2.0 + + ament_cmake_auto + rosidl_default_generators + + rosidl_default_runtime + + autoware_perception_msgs + builtin_interfaces + sensor_msgs + std_msgs + + ament_lint_auto + ament_lint_common + + rosidl_interface_packages + + + ament_cmake + + +