semantic octomap using the rtabmap slam

floatlazer / semantic_slam

Real time semantic slam in ROS with a hand held RGB-D camera

GNU General Public License v3.0

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semantic octomap using the rtabmap slam #38

Open germal opened 3 years ago

germal commented 3 years ago

Hi All, I would use the slam of Rtabmap and the semantic data of semantic_slam to create a map Do you find any solution to fuse rtabmap and semantic cloud , in order to feed the slam mapping data of rtabmap in the octomap generator ? Thanks a lot in advance germal

FPSychotic commented 3 years ago

Hehe, that would be good

germal commented 3 years ago

...yes and I think also it would be possible Maybe it would need simply to modify the semantic_cloud.py with a transformation bgr->rgb in order to feed the segmented image it in rtabmap. https://github.com/floatlazer/semantic_slam/blob/657814a1ba484de6b7f6f9d07c564566c8121f13/semantic_cloud/src/semantic_cloud.py#L57 Regards

frankSARU commented 3 years ago

I'm trying this too. Is there any good method to use this semantic image on rtabmap?