Comments (5)
Hi @p-akanksha
Like @ToniRV mentioned, the error indicates that there was an object not specified in the configuration .csv
. There's a configuration for the goseek-challenge scenes, goseek_segmentation_mapping_dense.csv
, that should contain all the necessary information. Perhaps you could try replacing tesse_multiscene_office1_segmentation_mapping.csv
with that?
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Hi @p-akanksha,
Glad it worked!
The lookup of the semantic id for a given color should have a constant time complexity as we are using std::unordered_map
.
Nevertheless, if the getSemanticLabelFromColor
function doesn't find a color, it will start printing errors with the missing colors, this is not particularly fast.
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Thanks! Replacing tesse_multiscene_office1_segmentation_mapping.csv
with goseek_segmentation_mapping_dense.csv
worked perfectly.
This has also increased the speed of 3d reconstruction. Earlier it felt like it was processing frames in batches, now it reconstructs immediately. Do you think the delay was because it was trying to look for the objects in the configuration file and unable to find them?
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Hi @p-akanksha,
There is a .csv
file inside the cfg folder (configuration) that specifies the mapping between colors and object ids.
Depending on the colors in the semantic image, you might need to specify one csv vs another.
I think the one for go-seek should be already the default one:
Kimera-Semantics/kimera_semantics_ros/launch/kimera_semantics.launch
Lines 126 to 127 in 7198e5a
But maybe you can try replacing office1
in the line above by office2
?
Ping @ZacRavichandran
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That makes sense. Thanks for the prompt response.
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Related Issues (20)
- How can I get the mesh's color directly from the segmentation image?
- Build on Ubuntu 20.04 HOT 1
- Fails to build due to: libkimera_semantics_ros undefined reference to cv::String::deallocate() HOT 1
- how to get the mapping.csv file in cfg HOT 2
- how to use Kimera-Semantics for 3d dense reconstruction with depth map and poses
- Why can't I achieve the effect of the paper after rebuilding the map? HOT 2
- Kimera semantics does not work with rosbag recorded from REALSENSE D435i HOT 4
- How to run Kimera-semantics with semantic labels using kimera_semantics_demo.bag with Kimera-VIO-ROS? HOT 2
- what is "KS processing"
- ROS2 ? HOT 1
- Question about Bayesian update. HOT 2
- [ERROR] [1664794669.588072105]: PluginlibFactory: The plugin for class 'mesh_rviz_plugins/TexturedMesh' failed to load.
- Modify the project's semantic reconstruction algorithm HOT 1
- Custom rosbag
- about the non-ROS version
- Pure localization in the voxblox map created by Kimera-Semantics
- human 3d segmented mesh on kimera-semantics(during uhumans rosbag file implemention) HOT 1
- Kimera Semantics not generating 3D mesh with RealSense D455 HOT 6
- Steps for running of kimera-vio and metric reconstruction (kiimera-semantics) with realsense D455 online/live
- kimera_semantics_euroc
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