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[Question] semantic color space #36

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fan-ziqi opened this issue Oct 29, 2024 · 3 comments · Fixed by #40
Closed

[Question] semantic color space #36

fan-ziqi opened this issue Oct 29, 2024 · 3 comments · Fixed by #40
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@fan-ziqi
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Question

Every time I load the Carla environment, the color of the semantic map is different. How can I convert the semantic information into the color space of VIPlanner?
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Hi Zigi,

When do you observe the different colors? Typically, IsaacSim can assign random colors, but the class names are kept constant. The camera code of ViPlanner then takes the class names and converts them into colors, so that should be independent of what semantics you would see in the GUI.

Does that clarify the question?

@pascal-roth pascal-roth self-assigned this Oct 29, 2024
@pascal-roth pascal-roth added the question Further information is requested label Oct 29, 2024
@fan-ziqi
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Thank you for your guidance.

I created a new CalraCamera(Camera) class and mapped the colors as inputs for Carla's camera. The code has been uploaded here, and I hope it will be helpful for this project.

However, the costmap I generated is quite different from the one in the paper. Does the number of images used in reconstruction affect this? How should I set this value and the number of viewpoints?

Snipaste_2024-10-30_15-49-42

@pascal-roth pascal-roth mentioned this issue Nov 18, 2024
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pascal-roth added a commit that referenced this issue Nov 19, 2024
@pascal-roth
Adds data collection pipeline (#40)
7d481c1 
# Description

Adds data collection pipeline. 

Fixes #7 #14 #36 

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./formatter.sh`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
@pascal-roth pascal-roth linked a pull request Nov 19, 2024 that will close this issue
Adds data collection pipeline #40
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Issue addressed as part of the new data generation code release

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Adds data collection pipeline leggedrobotics/viplanner
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