Error in test_image_segmentation_dataset_demo.launch?

[crankler]

Hi, thank you for your shared work, it;s useful for me. However, when I input my rosbag, the error shows:

[DEBUG] [1710318477.902099, 1709132152.561885]: Image updated for camera 0 (rgb_camera_link).
Traceback (most recent call last):
  File "/home/yc/catkin_map/ctu-vras/src/traversability_estimation/scripts/nodes/segmentation_inference", line 367, in <module>
    main()
  File "/home/yc/catkin_map/ctu-vras/src/traversability_estimation/scripts/nodes/segmentation_inference", line 363, in main
    node.spin()
  File "/home/yc/catkin_map/ctu-vras/src/traversability_estimation/scripts/nodes/segmentation_inference", line 311, in spin
    pred, trav = self.process(arr)
  File "/home/yc/catkin_map/ctu-vras/src/traversability_estimation/scripts/nodes/segmentation_inference", line 248, in process
    orig_size = image.shape[:2]
AttributeError: 'NoneType' object has no attribute 'shape'
[DEBUG] [1710318477.907829, 1709132152.571938]: [/clock] failed to receive incoming message : unable to receive data from sender, check sender's logs for details
[DEBUG] [1710318477.908134, 1709132152.571938]: [/sync_rgb] failed to receive incoming message : unable to receive data from sender, check sender's logs for details

I use rosbag and camera raw format, the params as follows:

    <param name="use_sim_time" value="true"/>
    <node name="rosbag_play" pkg="rosbag" type="play" args="--clock --delay 3.0 --rate 1.0 /home/yc/wheel_1_70_650_init.bag"/>

    <node name="segmentation_inference" pkg="traversability_estimation" type="segmentation_inference" output="screen">
        <rosparam subst_value="true">
            model_name: $(arg model_name)
            smp_weights: $(arg smp_weights)
            hrnet_weights: $(arg hrnet_weights)
            device: $(arg device)
            num_cameras: 1
            image_transport: 'raw'
            legend: false
            max_age: 1.0
            input_scale: 0.5
            traversability_labels: false
        </rosparam>
        <remap from="input_0/image" to="sync_rgb"/>
        <remap from="input_0/image/compressed" to="sync_rgb/compressed"/>
        <remap from="input_0/camera_info" to="sync_rgb/camera_info"/>
        <remap from="output_0/semseg" to="segmentation_inference/semantic_segmentation"/>
        <remap from="output_0/semseg/compressed" to="segmentation_inference/semantic_segmentation/compressed"/>
        <remap from="output_0/camera_info" to="segmentation_inference/camera_info"/>
    </node>

Moverover, I add some info in the segmentation_inference as follows:

        while not rospy.is_shutdown():
            t0 = rospy.Time.now()
            i = (i + 1) % len(self.images)
            with self.lock:
                image, camera_info = self.images[i], self.camera_infos[i]
            if not image:
                rospy.loginfo('not image')
                continue
            if not camera_info:
                rospy.loginfo('not camera_info')
                continue                

            try:
                if self.image_transport:
                    arr = self.bridge.compressed_imgmsg_to_cv2(image, "bgr8")
                else:
                    arr = self.bridge.imgmsg_to_cv2(image, "bgr8")
                    rospy.loginfo('raw msg to iamge...')
            except CvBridgeError as e:
                rospy.logerr(e)
                raise

It seems that can't receive image, can you tell me how to fix it? Thank you for your reply.

[crankler]

I've solve this issue, the reason due to the different judgement between raw and compressed image. Then, can you tell me how to publish raw images as follows?

            pub = rospy.Publisher('output_%i/semseg_color' % i, Image, queue_size=1)
            self.image_color_pubs[i] = pub
            pub = rospy.Publisher('output_%i/semseg' % i, Image, queue_size=1)
            self.image_pubs[i] = pub

In color_pc_bagfile_demo.launch, node point_cloud_color sub the topic from semantic segmentaion, but the above node didn't pubish such topic here. Thank you to reply me and help me here.