Superpixels freespace segmentation for autonomous data collection

Hey everyone,
I’m trying to get a freespace DNN to work in my environment (following this tutorial), and need autonomous real-world image freespace labeling because I can’t work with simulation.

I need help with the following problems I’m facing :

  • I can’t find documentation on isaac::superpixels::RgbdSuperpixelFreespace component, and can’t seem to obtain good freespace segmentation results. I’m especially wondering how to tweak height_angle and height_tolerance parameters, and what’s their role.

  • From what I understand, this component also needs pose between camera and robot, the default one being [0.270598, -0.653281, 0.653281, -0.270598, 0.0, 0.0, 0.775]. What does this correspond to exactly? How could I tweak this for usage with Kaya?

  • When I try to run the training script on a prerecorded log containing depth and color image from the Realsense camera, the sample buffer successfully fills up, but I get this error :
    Number of samples in sample buffer: 0
    Number of samples in sample buffer: 1
    2020-06-22 14:48:22.626 ERROR ./messages/image.hpp@74: Image element type does not match: actual=1, expected=2
    This doesn’t crash the program but I still would like to fix it.

Can somebody help me with that?

Also I noticed that in packages/freespace_dnn/apps/freespace_dnn_data_annotation.subgraph.json , value for “label_invalid” parameter was originally 0.2, but this parameter expects an int, which was also giving me an error.

Sill stuck on this, I really would need some help.
I’d like at least some documentation on RgbdSuperpixelFreespace component…

Hi there,

Sorry for the delay. Will make sure to get back to you soon!

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