From 67c755a5a5ef60244596e64dff871298df40637d Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Mon, 16 Sep 2024 10:27:29 +0200 Subject: [PATCH] tutorials/segmentation_camera: Little fixes (#471) Signed-off-by: Martin Pecka --- tutorials/segmentation_camera.md | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/tutorials/segmentation_camera.md b/tutorials/segmentation_camera.md index 2b5c36b8..c1bc2a4e 100644 --- a/tutorials/segmentation_camera.md +++ b/tutorials/segmentation_camera.md @@ -378,14 +378,14 @@ For panoptic/instance segmentation, to parse the `labels_map`, click on any pixe ## Processing the segmentation sensor via gz-transport It's possible to process the segmentation data in real time via `gz-transport`. -You will need to which topics to subscribe to in order to receive this information. +You will need to know which topics to subscribe to in order to receive this information. Consider the following SDF snippet from the segmentation camera: ```xml - segmentation + semantic ``` -In this scenario, the sensor data will publish the label map data to `segmentation/labels_map`, and the colored map data to `segmentation/colored_map`. +In this scenario, the sensor data will publish the label map data to `semantic/labels_map`, and the colored map data to `semantic/colored_map`. We can write some c++ code that subscribes to these topics: ```cpp @@ -445,10 +445,10 @@ int main(int argc, char **argv) { gz::transport::Node node; - if (!node.Subscribe("/segmentation/colored_map", &OnNewColoredMap) || - !node.Subscribe("/segmentation/labels_map", &OnNewLabelMap)) + if (!node.Subscribe("/semantic/colored_map", &OnNewColoredMap) || + !node.Subscribe("/semantic/labels_map", &OnNewLabelMap)) { - std::cerr << "Error subscribing to the boundingbox camera topic" + std::cerr << "Error subscribing to the semantic camera topic" << std::endl; return -1; } @@ -459,4 +459,4 @@ int main(int argc, char **argv) ``` If you'd like to gain a better understanding of how the subscriber code works, -you can go through the [gz-transport tutorials](https://gazebosim.org/api/transport/11.0/tutorials.html). +you can go through the [gz-transport tutorials](https://gazebosim.org/api/transport/14.0/tutorials.html).