Parameters¶
There are three parameter files:
Robot Setup Configurations¶
Such as Publishers and subscribers
Plugin configurations¶
More informations on the plugins can be found in Plugins.
Core Parameters¶
Sensor parameter¶
More informations on the sensor configurations can be found in Semantics.
front_cam_pointcloud:
channels: ['rgb', 'chair','sofa',"person" ]
fusion: ['color','class_average','class_average','class_average']
topic_name: 'front_camera/semantic_pointcloud'
semantic_segmentation: True
publish_segmentation_image: True
segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large
show_label_legend: False
data_type: pointcloud
cam_info_topic: "camera/depth/camera_info"
image_topic: "camera/rgb/image_raw"
depth_topic: "camera/depth/image_raw"
cam_frame: "camera_rgb_optical_frame"
front_cam_image:
channels: ['chair','sofa',"person"]
fusion_methods: ['exponential','exponential','exponential']
publish_topic: 'semantic_image'
publish_image_topic: "semantic_image_debug"
publish_camera_info_topic: 'semantic_image_info'
publish_fusion_info_topic: 'semantic_image_fusion_info'
data_type: image
semantic_segmentation: True
feature_extractor: True
segmentation_model: 'lraspp_mobilenet_v3_large' # detectron_coco_panoptic_fpn_R_101_3x, lraspp_mobilenet_v3_large
show_label_legend: False
image_topic: "camera/rgb/image_raw"
camera_info_topic: "camera/depth/camera_info"
resize: 0.5