chore: change class array with objects classification type

Signed-off-by: Barış Zeren <[email protected]>

CMakeLists.txt

@@ -16,6 +16,7 @@ set(msg_dependencies
   builtin_interfaces
   std_msgs
   sensor_msgs
+  autoware_perception_msgs
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}

msg/SegmentationConfig.msg

@@ -1,16 +1,7 @@
-uint8 UNKNOWN=0
-uint8 CAR=1
-uint8 TRUCK=2
-uint8 BUS=3
-uint8 BICYCLE=4
-uint8 MOTORBIKE=5
-uint8 PEDESTRIAN=6
-uint8 ANIMAL=7
-
-# It represent map between instance segmentation mask and classes
+# 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)
-#     `class_ids[0]` returns the `class_id` for pixels with an intensity value of `1` in the mask.
-#     `class_ids[1]` returns the `class_id` for pixels with an intensity value of `2` in the mask.
+#     `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 class IDs continues in this way.
-uint8[] class_ids
+# The relationship between pixels and label IDs continues in this way.
+autoware_perception_msgs/ObjectClassification[] classification

package.xml

@@ -18,6 +18,7 @@
   <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>