pranay731 / kimera-semantics-with-segmentation Goto Github PK

hello, how do. you get the ade20k_segmentation_mapping.csv file?

Hello @pranay731 !
I can see the raw semantic image but I cannot see any pointcloud and the voxblox mesh in rviz, so I would ask you if you kindly could help me to make it work.

For example
the  /kimera_semantics_node/mesh topic  publish topic with empty mesh_blocks

  frame_id: "world"
block_edge_length: 0.800000011920929
mesh_blocks []

and the /semantic_pointcloud is completely empty

This is start the sequence of the launch file

1- **rs_camera.launch with enable_pointcloud:=true **  ( not the rs_rgbd.launch )
2-roslaunch semantic_segmentation_ros semantic_segmentation.launch

NODES
  /
    semantic_segmentation_ros (semantic_segmentation_ros/run_semantic_segmentation)

process[semantic_segmentation_ros-1]: started with pid [10499]
[INFO] [1612212911.131352]: Loaded configuration file /home/mluser/kimera_full_ws/src/ros-semantic-segmentation-pytorch/config/ade20k-resnet50dilated-ppm_deepsup.yaml
Loading weights for net_encoder
Loading weights for net_decoder
[INFO] [1612212932.370851]: Initialization Done. Running Inference .....
3-roslaunch kimera_semantics_ros kimera_semantics_realsense.launch
NODES
  /
    cloudify (nodelet/nodelet)
    kimera_semantics_node (kimera_semantics_ros/kimera_semantics_node)
    nodelet_manager (nodelet/nodelet)
    odom_world (tf/static_transform_publisher)

process[nodelet_manager-1]: started with pid [10554]
process[cloudify-2]: started with pid [10555]
process[kimera_semantics_node-3]: started with pid [10556]
process[odom_world-4]: started with pid [10557]
[ INFO] [1612212971.492035980]: Loading nodelet /cloudify of type depth_image_proc/point_cloud_xyzrgb to manager nodelet_manager with the following remappings:
[ INFO] [1612212971.495511420]: /depth_registered/image_rect -> /camera/aligned_depth_to_color/image_raw
[ INFO] [1612212971.496427599]: /depth_registered/points -> /semantic_pointcloud
[ INFO] [1612212971.496516248]: /rgb/camera_info -> /camera/color/camera_info
[ INFO] [1612212971.496572500]: /rgb/image_rect_color -> /segmentation/color/image_raw
[ INFO] [1612212971.502228540]: waitForService: Service [/nodelet_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1612212971.786755961]: Initializing nodelet with 4 worker threads.
[ INFO] [1612212971.814909229]: waitForService: Service [/nodelet_manager/load_nodelet] is now available.

Looking forward for your kind advices !
Thanks a lot
germal

Hi, impressed by your work, I have some question how to use your repo.
First of all, we can't use your repo based on setup and usage command written on readme
I think it needs to be edit.
It will be a huge help if you edit