This package helps to convert semantic labels coming from Isaac Sim to consistent label images in mono8 and rgb8 used in nvblox.
semantic_label_conversion.launch.py launches the semantic_label_stamper and semantic_label_converter nodes.
The parameters in params/semantic_label_conversion.yaml are loaded.
Adds timestamps to the semantic labels. This is required to synchronize the semantic image and labels in the semantic_label_converter node with a TimeSynchronizer.
| Subscriber Topics | Type | Description |
|---|---|---|
/<camera_name>/semantic_labels |
std_msgs/msg/String |
Semantic labels definition published by Isaac Sim |
| Publisher Topics | Type | Description |
|---|---|---|
/semantic_conversion/<camera_name>/labels_stamped |
semantic_labels/msg/SemanticLabelsStamped |
Resulting timestamped semantic labels |
Outputs the resulting mono8 and rgb8 GT images.
| Subscriber Topics | Type | Description |
|---|---|---|
/<camera_name>/semantic |
sensor_msgs/msg/Image |
GT image published by Isaac Sim |
/semantic_conversion/<camera_name>/labels_stamped |
semantic_labels/msg/SemanticLabelsStamped |
Timestamped semantic labels published by the semantic_label_converter node |
| Publisher Topics | Type | Description |
|---|---|---|
/semantic_conversion/<camera_name>/semantic_mono8 |
sensor_msgs/msg/Image |
Resulting semantic GT one channel image |
/semantic_conversion/<camera_name>/semantic_colorized |
sensor_msgs/msg/Image |
Resulting semantic GT colorized image |
The configuration file can be found in params/semantic_label_conversion.yaml.
| Parameter | Type | Description |
|---|---|---|
camera_1_enabled |
bool |
Enable the conversion for camera 1 images |
camera_1_name |
string |
Name of camera 1 (topic names are dependent on this parameter) |
camera_2_enabled |
bool |
Enable the conversion for camera 2 images |
camera_2_name |
string |
Name of camera 2 (topic names are dependent on this parameter) |
labels.names |
list |
List of strings containing label names defined in Isaac Sim that you wish to convert |
label.<label_name>.output_id |
int |
Mono8 value that each label name gets converted to in the /semantic_conversion/<camera_name>/semantic_mono8 image |
label.<label_name>.output_color |
list |
Rgb8 value stored as a list that each label name gets converted to in the /semantic_conversion/<camera_name>/semantic_colorized image |