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Class Segmentation Configuration

Class Segmentation Configuration is a level entity component that allows to globally configure lidar segmentation classes.

Provider

ROS 2 Gem

Properties

Class Segmentation Configuration component properties

PropertyDescriptionValuesDefault
Segmentation classesA list of all segmentation classes. Each class consists of a name, class ID and a class color.ListUnknown, Ground

Note that if an entity does not possess a Tag component with a name that matches one of the segmentation classes, it will be assigned the Unknown segmentation class. The Ground segmentation class on the other hand will be assigned to the geometry generated by the Terrain Gem.

Usage

  1. Add Class Segmentation Configuration to the level entity; then add the desired segmentation classes (example shown above).

  2. Tag entities associated with each class with their respective segmentation class names (See Tag).

    Class Segmentation Tag component example

  3. Additionally, make sure to enable segmentation in the ROS2 Lidar sensors (See ROS 2 Lidar Sensor).

    Class Segmentation segmentation enabled