fix closed-set rosbag recorder and relabel syntax (#21)

Author: marcusabate

semantic_inference_ros/app/closed_set_rosbag_writer.cpp

@@ -371,6 +371,7 @@ CvImage::Ptr ClosedSetRosbagWriter::runSegmentation(const CvImage& image,
   const auto derotated = rotator.derotate(result.labels);
   auto labels = std::make_shared<cv_bridge::CvImage>();
   labels->header = image.header;
+  labels->encoding = "16SC1";  // 16-bit signed, single channel
   derotated.convertTo(labels->image, CV_16S);
   return labels;
 }

semantic_inference_ros/launch/closed_set.launch.yaml

@@ -55,13 +55,14 @@ launch:
   - node:  # Remapping pre-recorded labels
       if: $(var use_prerecorded)
       pkg: semantic_inference_ros
-      exec: recolor_node
+      exec: relabel_node
       name: semantic_inference
       on_exit: shutdown
       args: |
         $(if $(not $(var verbose)) --disable-stdout-logs)
-        --config-utilities-file $(find-pkg-share semantic_inference_ros)/config/label_groupings/$(var labelspace_name).yaml
+        --config-utilities-file $(find-pkg-share semantic_inference_ros)/config/label_groupings/$(var labelspace_name).yaml@output/recolor
         --config-utilities-yaml {worker: {max_queue_size: $(var max_image_queue_size),  image_separation_s: $(var min_separation_s)}}
+        --config-utilities-yaml {output: {recolor: {colormap_path: $(var colormap_path)}}}
   - arg: {name: run_backprojection, default: 'false', description: Triggers decompression for RGB stream}
   - arg: {name: backprojection_config, default: '{}', description: Extra parameters for backprojection}
   - node:  # 2D semantic segmentation

semantic_inference_ros/src/relabel_nodelet.cpp

@@ -29,6 +29,8 @@
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  * * -------------------------------------------------------------------------- */
 
+#include <config_utilities/config_utilities.h>
+#include <config_utilities/parsing/commandline.h>
 #include <config_utilities/printing.h>
 #include <config_utilities/validation.h>
 #include <ianvs/image_subscription.h>
@@ -87,7 +89,10 @@ void declare_config(RelabelNode::Config& config) {
 }
 
 RelabelNode::RelabelNode(const rclcpp::NodeOptions& options)
-    : Node("recolor_node", options), color_sub_(*this), label_sub_(*this) {
+    : Node("recolor_node", options),
+      config_(config::fromCLI<Config>(options.arguments())),
+      color_sub_(*this),
+      label_sub_(*this) {
   logging::Logger::addSink("ros", std::make_shared<RosLogSink>(get_logger()));
   logging::setConfigUtilitiesLogger();