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roahmlab / sel_map

Semantic ELevation (SEL) map is a semantic Bayesian inferencing framework for real-time elevation mapping and terrain property estimation from RGB-D images.
https://roahmlab.github.io/sel_map/
MIT License
108 stars 12 forks source link

Can you provide spot_comp8.data #3

Closed liuxiao916 closed 2 years ago

liuxiao916 commented 2 years ago

Hi,

Thank you for your great work. Can you provide the rosbag to help me test it?

rosbag play spot_comp8.data --clock --pause

BuildingAtom commented 2 years ago

Sure thing! Here's a link to spot_comp8.bag, also for anyone else who might want to try with that same bag. This bag wasn't included in the figures for the final published paper, here is a link to spot_comp3.bag which corresponds to figure 5b in our paper.

We generated the figure with the default semseg=CSAIL_ResNet50ppm_ADE_full.yaml, but for realtime performance, we recommend semseg=Encoding_ResNet50_ADE_onehot.yaml.

Please let us know if you have any issues! If not, I'll go ahead and close this issue.

liuxiao916 commented 2 years ago

Cool! Thanks.

liuxiao916 commented 2 years ago

By the way, when I want to test rosbag. I should launch spot_bag_sel.launch instead of spot_sel.launch. I spent a lot of to debug why image_transport didn't work.