Semantic Pointcloud

class semantic_sensor.pointcloud_parameters.FeatureExtractorParameter(name: str = 'DINO', interpolation: str = 'bilinear', model: str = 'vit_small', patch_size: int = 16, dim: int = 5, dropout: bool = False, dino_feat_type: str = 'feat', projection_type: str = 'nonlinear', input_size: list = <factory>, feature_image_topic: str = '/semantic_sensor/feature_image', pcl: bool = True)

Bases: Serializable

name: str = 'DINO'

interpolation: str = 'bilinear'

model: str = 'vit_small'

patch_size: int = 16

dim: int = 5

dropout: bool = False

dino_feat_type: str = 'feat'

projection_type: str = 'nonlinear'

input_size: list = Field(name=None,type=None,default=<dataclasses._MISSING_TYPE object>,default_factory=<function PointcloudParameter.<lambda>>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),kw_only=<dataclasses._MISSING_TYPE object>,_field_type=None)

feature_image_topic: str = '/semantic_sensor/feature_image'

pcl: bool = True

__init__(name: str = 'DINO', interpolation: str = 'bilinear', model: str = 'vit_small', patch_size: int = 16, dim: int = 5, dropout: bool = False, dino_feat_type: str = 'feat', projection_type: str = 'nonlinear', input_size: list = <factory>, feature_image_topic: str = '/semantic_sensor/feature_image', pcl: bool = True) → None

decode_into_subclasses: ClassVar[bool] = False

class semantic_sensor.pointcloud_parameters.PointcloudParameter(sensor_name: str = 'camera', topic_name: str = '/elvation_mapping/pointcloud_semantic', channels: list = <factory>, fusion: list = <factory>, semantic_segmentation: bool = False, segmentation_model: str = 'lraspp_mobilenet_v3_large', publish_segmentation_image: bool = False, segmentation_image_topic: str = '/semantic_sensor/sem_seg', pub_all: bool = False, show_label_legend: bool = False, cam_info_topic: str = '/zed2i/zed_node/depth/camera_info', image_topic: str = '/zed2i/zed_node/left/image_rect_color', depth_topic: str = '/zed2i/zed_node/depth/depth_registered', cam_frame: str = 'zed2i_right_camera_optical_frame', confidence: bool = False, confidence_topic: str = '/zed2i/zed_node/confidence/confidence_map', confidence_threshold: int = 10, feature_extractor: bool = False, publish_feature_image: bool = False, feature_config: semantic_sensor.pointcloud_parameters.FeatureExtractorParameter = <class 'semantic_sensor.pointcloud_parameters.FeatureExtractorParameter'>)

Bases: Serializable

sensor_name: str = 'camera'

topic_name: str = '/elvation_mapping/pointcloud_semantic'

channels: list

fusion: list

semantic_segmentation: bool = False

segmentation_model: str = 'lraspp_mobilenet_v3_large'

publish_segmentation_image: bool = False

segmentation_image_topic: str = '/semantic_sensor/sem_seg'

pub_all: bool = False

show_label_legend: bool = False

cam_info_topic: str = '/zed2i/zed_node/depth/camera_info'

image_topic: str = '/zed2i/zed_node/left/image_rect_color'

depth_topic: str = '/zed2i/zed_node/depth/depth_registered'

cam_frame: str = 'zed2i_right_camera_optical_frame'

confidence: bool = False

confidence_topic: str = '/zed2i/zed_node/confidence/confidence_map'

confidence_threshold: int = 10

feature_extractor: bool = False

publish_feature_image: bool = False

feature_config

alias of FeatureExtractorParameter

__init__(sensor_name: str = 'camera', topic_name: str = '/elvation_mapping/pointcloud_semantic', channels: list = <factory>, fusion: list = <factory>, semantic_segmentation: bool = False, segmentation_model: str = 'lraspp_mobilenet_v3_large', publish_segmentation_image: bool = False, segmentation_image_topic: str = '/semantic_sensor/sem_seg', pub_all: bool = False, show_label_legend: bool = False, cam_info_topic: str = '/zed2i/zed_node/depth/camera_info', image_topic: str = '/zed2i/zed_node/left/image_rect_color', depth_topic: str = '/zed2i/zed_node/depth/depth_registered', cam_frame: str = 'zed2i_right_camera_optical_frame', confidence: bool = False, confidence_topic: str = '/zed2i/zed_node/confidence/confidence_map', confidence_threshold: int = 10, feature_extractor: bool = False, publish_feature_image: bool = False, feature_config: ~semantic_sensor.pointcloud_parameters.FeatureExtractorParameter = <class 'semantic_sensor.pointcloud_parameters.FeatureExtractorParameter'>) → None

decode_into_subclasses: ClassVar[bool] = False

class semantic_sensor.image_parameters.FeatureExtractorParameter(name: str = 'DINO', interpolation: str = 'bilinear', model: str = 'vit_small', patch_size: int = 16, dim: int = 10, dropout: bool = False, dino_feat_type: str = 'feat', projection_type: str = 'nonlinear', input_size: list = <factory>, pcl: bool = False)

Bases: Serializable

name: str = 'DINO'

interpolation: str = 'bilinear'

model: str = 'vit_small'

patch_size: int = 16

dim: int = 10

dropout: bool = False

dino_feat_type: str = 'feat'

projection_type: str = 'nonlinear'

input_size: list

pcl: bool = False

__init__(name: str = 'DINO', interpolation: str = 'bilinear', model: str = 'vit_small', patch_size: int = 16, dim: int = 10, dropout: bool = False, dino_feat_type: str = 'feat', projection_type: str = 'nonlinear', input_size: list = <factory>, pcl: bool = False) → None

decode_into_subclasses: ClassVar[bool] = False

class semantic_sensor.image_parameters.ImageParameter(image_topic: str = '/alphasense_driver_ros/cam4/debayered', semantic_segmentation: bool = True, segmentation_model: str = 'detectron_coco_panoptic_fpn_R_101_3x', show_label_legend: bool = False, channels: list = <factory>, publish_topic: str = 'semantic_seg', publish_image_topic: str = 'semantic_seg_img', channel_info_topic: str = 'channel_info', feature_extractor: bool = False, feature_config: semantic_sensor.image_parameters.FeatureExtractorParameter = <class 'semantic_sensor.image_parameters.FeatureExtractorParameter'>, feature_topic: str = 'semantic_seg_feat', feat_image_topic: str = 'semantic_seg_feat_im', feat_channel_info_topic: str = 'feat_channel_info', resize: float = None, camera_info_topic: str = 'camera_info')

Bases: Serializable

image_topic: str = '/alphasense_driver_ros/cam4/debayered'

semantic_segmentation: bool = True

segmentation_model: str = 'detectron_coco_panoptic_fpn_R_101_3x'

show_label_legend: bool = False

channels: list

publish_topic: str = 'semantic_seg'

publish_image_topic: str = 'semantic_seg_img'

channel_info_topic: str = 'channel_info'

feature_extractor: bool = False

feature_config

alias of FeatureExtractorParameter

feature_topic: str = 'semantic_seg_feat'

feat_image_topic: str = 'semantic_seg_feat_im'

feat_channel_info_topic: str = 'feat_channel_info'

resize: float = None

camera_info_topic: str = 'camera_info'

__init__(image_topic: str = '/alphasense_driver_ros/cam4/debayered', semantic_segmentation: bool = True, segmentation_model: str = 'detectron_coco_panoptic_fpn_R_101_3x', show_label_legend: bool = False, channels: list = <factory>, publish_topic: str = 'semantic_seg', publish_image_topic: str = 'semantic_seg_img', channel_info_topic: str = 'channel_info', feature_extractor: bool = False, feature_config: ~semantic_sensor.image_parameters.FeatureExtractorParameter = <class 'semantic_sensor.image_parameters.FeatureExtractorParameter'>, feature_topic: str = 'semantic_seg_feat', feat_image_topic: str = 'semantic_seg_feat_im', feat_channel_info_topic: str = 'feat_channel_info', resize: float = None, camera_info_topic: str = 'camera_info') → None

decode_into_subclasses: ClassVar[bool] = False

semantic_sensor.utils.encode_max(maxim, index)

semantic_sensor.utils.decode_max(mer)