Regarding Semantic Recoloring

[ArghyaChatterjee]

Hello,

Thanks for the work. I have created a fork and tried to implement it on uHumans2_office_s1_00h.bag bag files left camera image topic. Now, I see inside the uHumans2_office_s1_00h.bag, the camera color segmentation values are different from the one that you are using here in this package. Perhaps that's different because of the no. of classes are different in different dataset but can you clarify this ? This is a bit confusing because I am going to launch this one to feed the output to hydra and I see the 2 topics have different colors for different classes.

Like the ade20kefficientvit or the other models in this repo, the wall color is light green, ceiling is red and floor is blue. whereas in the uhumansoffice bag file mentioned above, the wall is dark green, ceiling and floor both are steel gray.

How does this impact the overall scene graph generation with hydra ? Will this color mismatch create any impact on the detected object or generated scene graph with hydra ?

[ArghyaChatterjee]

@nathanhhughes, can you please clarify ?