semantic image layers don't work with camera resolutions other than 640x320

[shin-ka]

Hi,

In my project (in simulation) I am trying to generate semantic layers, similar to this launch file : turtlesim_semantic_image_example.launch. Basically the semantic node is segmenting a particular object in the scene and I am adding a semantic layer to the /elevation_map_raw topic which contains info about where this object is lying on the grid.

I am able to get correct correspondences between image and grid and the output semantic layer looks correct for image resolution 640x320. However, if I change the resolution to any other value, the object location shifts and eventually the semantic layer has no information of the object anymore.

I selected the resolution of 640x320 in my project based on the turtlebot example where the turtlebot has camera resolution of 640x320.

Could you please help me out what might be causing this?

[mktk1117]

Hi,

Did you change the corresponding camera info?

[shin-ka]

Hi, yes the camera info topic is always updated with every new camera resolution I test with.

[mktk1117]

Umm, that's a bit weird. Maybe it is not configured correctly to use that camera_info topic?
We have been using with different resolutions, and didn't have this issue.

[shin-ka]

When I try increasing the resolution, it appears as if the information in the semantic grid layer shifts towards the left and at 1280x720 resolution the grid is completely empty.
Looks like the projection of the image on the grid doesn't happen anymore.

Could you please point out which parts of the code I should look into to find out the error?

[mktk1117]

Could you check the Subscriber params?

For example these camera_info topic params.

elevation_mapping_cupy/elevation_mapping_cupy/config/setups/turtle_bot/turtle_bot_semantics_image.yaml

Line 18 in 00bbe01

camera_info_topic_name: '/camera/depth/camera_info'

You can do rosparam list | grep camera_info_topic_name
to listup the related parameters and check the values with rosparam get <param_name>

[shin-ka]

Hi, was able to solve the issue. There is a resize param that was set to 0.5 which was resizing the images. Changed it to 1.0 and it works with other resolutions.

Thanks for your support!