LaneMapping-ACC

ROS2 Humble package for road segmentation and 3D mapping with Isaac ROS Nvblox.

Overview

This package extracts road regions (blue color) from a segmentation mask, applies the mask to depth images, and feeds the masked depth to Isaac ROS Nvblox for 3D reconstruction of road surfaces only.

Features

• Blue road extraction from /segmentation/color_mask with configurable color thresholds
• Depth masking to keep only road regions for 3D reconstruction
• Synthetic CameraInfo generation with configurable intrinsics
• Nvblox integration in static reconstruction mode (geometry only, no color)

Topics

Subscribed

Topic	Type	Description
/segmentation/color_mask	sensor_msgs/Image	Input RGB segmentation mask
/camera/depth_image	sensor_msgs/Image	Input depth image from RealSense D435

Published

Topic	Type	Description
/segmentation/road_mask	sensor_msgs/Image	Binary road mask (mono8)
/segmentation/color_mask/road/image	sensor_msgs/Image	Visualization of extracted road
/nvblox/depth/image	sensor_msgs/Image	Masked depth for nvblox
/nvblox/depth/camera_info	sensor_msgs/CameraInfo	Camera intrinsics

Installation

cd ~/ros2_ws
colcon build --packages-select lane_mapping_acc
source install/setup.bash

Usage

Run segmentation pipeline only

ros2 launch lane_mapping_acc road_segmentation.launch.py

Run complete pipeline with Nvblox

ros2 run tf2_ros static_transform_publisher     --x 0.095 --y 0.032 --z 0.172     --roll -1.5708 --pitch 0 --yaw -1.5708     --frame-id base_link     --child-frame-id camera_depth_optical_frame

ros2 run qcar2_laneseg_acc color_segmentation_node.py --ros-args -p roi_height_ratio:=0.2


ros2 launch lane_mapping_acc cartographer_mapping.launch.py

ros2 launch lane_mapping_acc nvblox_road_mapping.launch.py use_sim_time:=true

Custom configuration

ros2 launch lane_mapping_acc nvblox_road_mapping.launch.py \
    segmentation_config:=/path/to/custom_segmentation.yaml \
    nvblox_config:=/path/to/custom_nvblox.yaml \
    global_frame:=map

Configuration

config/segmentation_params.yaml

• Blue color thresholds (RGB) and tolerance
• Input/output topic names
• Camera intrinsics (fx, fy, cx, cy)
• Synchronization parameters

config/nvblox_static.yaml

• Nvblox parameters for static TSDF reconstruction
• ESDF configuration for navigation
• Mesh visualization settings

Nodes

Node	Description
road_mask_extractor	Extracts blue road regions from color mask
depth_masker	Applies road mask to depth image
camera_info_publisher	Generates CameraInfo for masked depth

Saving the 3D Map

# Save as PLY file
ros2 service call /nvblox_node/save_ply nvblox_msgs/srv/FilePath "{file_path: '/tmp/road_map.ply'}"

# Save full map (for later loading)
ros2 service call /nvblox_node/save_map nvblox_msgs/srv/FilePath "{file_path: '/tmp/road_map.nvblx'}"

Visualization in RViz2

1. Add Image display for /segmentation/road_mask
2. Add Image display for /nvblox/depth/image
3. Add nvblox mesh plugin for 3D reconstruction visualization

License

MIT