Image segmenter output messages. (#5)

Image segmentation action and messages.

moveit_studio_msgs/moveit_studio_vision_msgs/CMakeLists.txt

@@ -9,23 +9,33 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(moveit_studio_sdk_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(shape_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
 set(msg_files
   "msg/GraspableFace.msg"
   "msg/GraspableObject.msg"
+  "msg/Mask2D.msg"
   "msg/ObjectDetection.msg"
   "msg/ObjectDetectionArray.msg"
   "msg/PointCloudPCD.msg"
 )
 
+set(action_files
+  "action/GetMasks2D.action"
+)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
-    ${msg_files}
+  ${msg_files}
+  ${action_files}
   DEPENDENCIES
     builtin_interfaces  
     geometry_msgs
+    moveit_studio_sdk_msgs
+    sensor_msgs
     shape_msgs
     std_msgs
 )

moveit_studio_msgs/moveit_studio_vision_msgs/action/GetMasks2D.action

@@ -0,0 +1,15 @@
+# Goal
+
+# Image to segment.
+sensor_msgs/Image image
+
+# Segmentation parameters. They are stored as key-value pairs because they are 
+# specific to the segmentation model being run by the action server.
+moveit_studio_sdk_msgs/BehaviorParameter[] parameters
+
+---
+# Result
+moveit_studio_vision_msgs/Mask2D[] masks
+
+---
+# Feedback

moveit_studio_msgs/moveit_studio_vision_msgs/msg/Mask2D.msg

@@ -0,0 +1,17 @@
+# Message containing a 2D mask.
+#
+# This message may be used to represent an instance or semantic mask in the
+# output message of an image segmenter.
+
+# The position of the top-left corner of the mask within the segmented image. 
+# (0, 0) is the top-left corner of the segmented image.
+# The segmented image should be referenced in the containing image segmenter
+# message.
+int32 x
+int32 y
+
+# A single plane image with the mask pixels.
+# The image pixels can be encoded as:
+#   - Integer: only non-zero pixels belong to the mask.
+#   - Floating point: each pixel has a probability of belonging to the mask.
+sensor_msgs/Image pixels

moveit_studio_msgs/moveit_studio_vision_msgs/package.xml

@@ -13,6 +13,8 @@
 
   <depend>builtin_interfaces</depend>
   <depend>geometry_msgs</depend>
+  <depend>moveit_studio_sdk_msgs</depend>
+  <depend>sensor_msgs</depend>
   <depend>shape_msgs</depend>
   <depend>std_msgs</depend>