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semantic_label_conversion package from isaac_ros_nvblox repo

isaac_ros_nvblox nvblox_examples_bringup nvblox_image_padding realsense_splitter semantic_label_conversion nvblox_msgs nvblox_nav2 nvblox_ros nvblox_ros_common nvblox_ros_python_utils nvblox_rviz_plugin nvblox_test nvblox_test_data

API Docs
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Package Summary

Tags	No category tags.
Version	3.2.5
License	NVIDIA Isaac ROS Software License
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/nvidia-isaac-ros/isaac_ros_nvblox.git
VCS Type	git
VCS Version	main
Last Updated	2025-02-28
Dev Status	UNMAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Package to convert semantic labels coming from Isaac Sim to consistent label images

Additional Links

Website

Maintainers

Isaac ROS Maintainers

Authors

Emilie Wirbel
Remo Steiner

nvblox_examples/semantic_label_conversion/README.md

How to get semantic GT from Isaac Sim

This package helps to convert semantic labels coming from Isaac Sim to consistent label images in mono8 and rgb8 used in nvblox.

Nodes

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.

semantic_label_stamper node

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

semantic_label_converter node

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

Configuration

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

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	isaac_ros_common
	ament_cmake
	ros2launch
	ament_lint_auto
	ament_lint_common
	nvblox_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
nvblox_examples_bringup

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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