Miguel Ángel González Santamarta

Hey @SamuelHafner, thanks for the issue. A better solution could be as follows. Can you try it? ```python cv_image = self.cv_bridge.imgmsg_to_cv2(msg, desired_encoding=msg.encoding) ```

If you don't want to modify yolov8_ros, you can try to add a node to remove the alpha channel and republish the image as bgr8.

I'd rather create a new node to filter the alpha channel or modify the yolov8 node to remove it since there are cameras that do not use bgr8. Those bags...

Hey @imdsafi09, I couldn't reproduce your error. I may be a problem with your tf. Which ROS distro are you using?

Hi @imdsafi09, it seems to be a problem with the encoding of the image. Can you give me more info about the error, the error message? If you record a...

Hey @imdsafi09, how is this going?

Hi @imdsafi09, do you mean changing the color of the 3D bounding box? I think that can be easily included.

Check out the [new version](https://github.com/mgonzs13/yolov8_ros/releases/tag/3.0.2) that includes the 3D bounding boxes with the same color as the 2D boxes.

I have never used semantic localization. Which works have you checked? From a fast search, I have found these [1](https://www.researchgate.net/profile/David-Chaves-4/publication/333625768_Integration_of_CNN_into_a_Robotic_Architecture_to_Build_Semantic_Maps_of_Indoor_Environments/links/5d402e134585153e592d3545/Integration-of-CNN-into-a-Robotic-Architecture-to-Build-Semantic-Maps-of-Indoor-Environments.pdf), [2](https://arxiv.org/pdf/2210.01456), [3](https://www-sop.inria.fr/members/Renato-Jose.Martins/files/preprint_semanticMapping.pdf). Do you have a public repo to take...

So, If I understand the code in [1](https://github.com/verlab/3DSemanticMapping_JINT_2020/blob/master/auto/src/map_interceptor.py), markers from door detections are used to modify the occupancy grid map of the localization. As a result, you will have the...