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tutorials/segmentation_camera: Little fixes #471

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Sep 16, 2024
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tutorials/segmentation_camera: Little fixes #471

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14 changes: 7 additions & 7 deletions tutorials/segmentation_camera.md
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Expand Up @@ -378,14 +378,14 @@ For panoptic/instance segmentation, to parse the `labels_map`, click on any pixe

## Processing the segmentation sensor via gz-transport
It's possible to process the segmentation data in real time via `gz-transport`.
You will need to which topics to subscribe to in order to receive this information.
You will need to know which topics to subscribe to in order to receive this information.

Consider the following SDF snippet from the segmentation camera:
```xml
<topic>segmentation</topic>
<topic>semantic</topic>
```

In this scenario, the sensor data will publish the label map data to `segmentation/labels_map`, and the colored map data to `segmentation/colored_map`.
In this scenario, the sensor data will publish the label map data to `semantic/labels_map`, and the colored map data to `semantic/colored_map`.
We can write some c++ code that subscribes to these topics:

```cpp
Expand Down Expand Up @@ -445,10 +445,10 @@ int main(int argc, char **argv)
{
gz::transport::Node node;

if (!node.Subscribe("/segmentation/colored_map", &OnNewColoredMap) ||
!node.Subscribe("/segmentation/labels_map", &OnNewLabelMap))
if (!node.Subscribe("/semantic/colored_map", &OnNewColoredMap) ||
!node.Subscribe("/semantic/labels_map", &OnNewLabelMap))
{
std::cerr << "Error subscribing to the boundingbox camera topic"
std::cerr << "Error subscribing to the semantic camera topic"
<< std::endl;
return -1;
}
Expand All @@ -459,4 +459,4 @@ int main(int argc, char **argv)
```

If you'd like to gain a better understanding of how the subscriber code works,
you can go through the [gz-transport tutorials](https://gazebosim.org/api/transport/11.0/tutorials.html).
you can go through the [gz-transport tutorials](https://gazebosim.org/api/transport/14.0/tutorials.html).
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