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Fix/color behavior #27

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Merged
nathanhhughes merged 3 commits into from
Mar 16, 2026
Merged

Fix/color behavior #27

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94231f0
allow rgb toggling
nathanhhughes Mar 6, 2026
c3c236e
fix param name
nathanhhughes Mar 15, 2026
f65b255
fix formatting slightly
nathanhhughes Mar 15, 2026
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22 changes: 12 additions & 10 deletions semantic_inference_ros/src/backprojection_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ struct BackprojectionNode : public rclcpp::Node {
std::string camera_frame;
std::string lidar_frame;
bool use_image_stamp = false;
bool use_recolor = false;
} const config;

explicit BackprojectionNode(const rclcpp::NodeOptions& options);
Expand Down Expand Up @@ -76,6 +77,8 @@ void declare_config(BackprojectionNode::Config& config) {
field(config.camera_frame, "camera_frame");
field(config.lidar_frame, "lidar_frame");
field(config.use_image_stamp, "use_image_stamp");
field(config.use_recolor, "use_recolor");

check(config.input_queue_size, GT, 0, "input_queue_size");
check(config.output_queue_size, GT, 0, "output_queue_size");
}
Expand Down Expand Up @@ -136,10 +139,11 @@ void BackprojectionNode::callback(const Image::ConstSharedPtr& label_msg,
const PointCloud2::ConstSharedPtr& cloud_msg) {
// Find transform from cloud to image frame
const rclcpp::Time stamp(cloud_msg->header.stamp);
const auto image_T_cloud = getTransform(
!config.camera_frame.empty() ? config.camera_frame : info_msg->header.frame_id,
!config.lidar_frame.empty() ? config.lidar_frame : cloud_msg->header.frame_id,
stamp);
const auto image_fid =
!config.camera_frame.empty() ? config.camera_frame : info_msg->header.frame_id;
const auto lidar_fid =
!config.lidar_frame.empty() ? config.lidar_frame : cloud_msg->header.frame_id;
const auto image_T_cloud = getTransform(image_fid, lidar_fid, stamp);
if (!image_T_cloud) {
return;
}
Expand All @@ -162,25 +166,23 @@ void BackprojectionNode::callback(const Image::ConstSharedPtr& label_msg,
}

auto output = std::make_unique<PointCloud2>();
const auto recolor = config.use_recolor ? recolor_.get() : nullptr;
const auto valid = projectSemanticImage(config.projection,
*info_msg,
label_ptr->image,
*cloud_msg,
image_T_cloud.value(),
*output,
color_ptr->image,
recolor_.get());
recolor);
if (!valid) {
return;
}

output->header = cloud_msg->header;
output->header.frame_id = config.projection.use_lidar_frame
? cloud_msg->header.frame_id
: label_msg->header.frame_id;
// modify the output header stamp to be the image timestamp to reflect the time of the
// semantic labels
output->header.frame_id = config.projection.use_lidar_frame ? lidar_fid : image_fid;
if (config.use_image_stamp) {
// force the lidar timestamp to be identical to the image timestamp
output->header.stamp = label_msg->header.stamp;
}

Expand Down
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