Skip to content

fix input conversion for unknown label value #18

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
nathanhhughes merged 2 commits into from
Sep 22, 2025
Merged

fix input conversion for unknown label value #18

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
baedb8e
fix input conversion for unknown label value
nathanhhughes Sep 22, 2025
81efc3a
fix formatting
nathanhhughes Sep 22, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 11 additions & 1 deletion semantic_inference_ros/src/pointcloud_projection.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -239,12 +239,22 @@ void recolorCloud(PointCloud2& output,

} // namespace

struct LabelConverter {
static int32_t toIntermediate(uint32_t orig, std::string&) { return orig; }

static void fromIntermediate(const int32_t& intermediate,
uint32_t& value,
std::string&) {
value = intermediate;
}
};

void declare_config(ProjectionConfig& config) {
using namespace config;
name("ProjectionConfig::Config");
field(config.use_lidar_frame, "use_lidar_frame");
field(config.discard_out_of_view, "discard_out_of_view");
field(config.unknown_label, "unknown_label");
field<LabelConverter>(config.unknown_label, "unknown_label");
field(config.input_label_fieldname, "input_label_fieldname");
field(config.override_labels, "override_labels");
field(config.allowed_labels, "allowed_labels");
Expand Down