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Fix/labelspace #34

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Merged
nathanhhughes merged 2 commits into from
Aug 8, 2026
Merged

Fix/labelspace #34

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5b90327
fill right message field for invalid labels
nathanhhughes Aug 5, 2026
dd79ac6
unlabeled should not be invalid
nathanhhughes Aug 6, 2026
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2 changes: 1 addition & 1 deletion semantic_inference_ros/app/instance_segmentation_node
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Original file line number Diff line number Diff line change
Expand Up @@ -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 = self.config.invalid_ids
msg.metadata = json.dumps(metadata)
self._labelspace_pub.publish(msg)

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