semantic octomap using the rtabmap slam

[germal]

Hi All,
I would use the slam of Rtabmap and the semantic data of semantic_slam to create a map
Do you find any solution to fuse rtabmap and semantic cloud , in order to feed the slam mapping data of rtabmap in the octomap generator ?
Thanks a lot in advance
germal

[FPSychotic]

Hehe, that would be good

[germal]

...yes and I think also it would be possible
Maybe it would need simply to modify the semantic_cloud.py with a transformation bgr->rgb in order to feed the segmented image it in rtabmap.

semantic_slam/semantic_cloud/src/semantic_cloud.py

Line 57 in 657814a

Given an image of class predictions, produce an bgr8 image with class colors

Regards

[frankSARU]

I'm trying this too. Is there any good method to use this semantic image on rtabmap?