From 5b90327299777505a2018b7f3e5880169693ca0a Mon Sep 17 00:00:00 2001 From: Nathan Hughes Date: Wed, 5 Aug 2026 17:16:59 +0000 Subject: [PATCH 1/2] fill right message field for invalid labels --- semantic_inference_ros/app/instance_segmentation_node | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/semantic_inference_ros/app/instance_segmentation_node b/semantic_inference_ros/app/instance_segmentation_node index 86deb8b..0044575 100755 --- a/semantic_inference_ros/app/instance_segmentation_node +++ b/semantic_inference_ros/app/instance_segmentation_node @@ -115,13 +115,13 @@ class InstanceSegmentationNode(Node): num_names = len(self._model.category_names) + 1 invalid_set = set(self.config.invalid_ids) metadata = {} - metadata["invalid_labels"] = self.config.invalid_ids metadata["object_labels"] = [ x for x in range(1, num_names) if x not in invalid_set ] msg = Labelspace() msg.names = [""] + self._model.category_names + msg.invalid = [0] + self.config.invalid_ids msg.metadata = json.dumps(metadata) self._labelspace_pub.publish(msg) From dd79ac69d8ab520968c716ed610eed26fd53e87c Mon Sep 17 00:00:00 2001 From: Nathan Hughes Date: Thu, 6 Aug 2026 13:51:52 -0400 Subject: [PATCH 2/2] unlabeled should not be invalid --- semantic_inference_ros/app/instance_segmentation_node | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/semantic_inference_ros/app/instance_segmentation_node b/semantic_inference_ros/app/instance_segmentation_node index 0044575..b49ea8e 100755 --- a/semantic_inference_ros/app/instance_segmentation_node +++ b/semantic_inference_ros/app/instance_segmentation_node @@ -121,7 +121,7 @@ class InstanceSegmentationNode(Node): msg = Labelspace() msg.names = [""] + self._model.category_names - msg.invalid = [0] + self.config.invalid_ids + msg.invalid = self.config.invalid_ids msg.metadata = json.dumps(metadata) self._labelspace_pub.publish(msg)