From 1939f63e2d77ad7de68fc8eaa7eedb10c10ed55f Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Tue, 31 Jan 2023 15:31:41 +0100
Subject: [PATCH 01/13] feat(efficientLPS): Re-implemented the ROS2 nodes for
 EfficientLPS and PCL2 publisher

---
 .../src/opendr_bridge/opendr_bridge/bridge.py |  75 +++++++-
 ...anoptic_segmentation_efficient_lps_node.py | 174 ++++++++++++++++++
 .../point_cloud_2_publisher_node.py           | 105 +++++++++++
 .../src/opendr_perception/setup.py            |   4 +-
 4 files changed, 356 insertions(+), 2 deletions(-)
 create mode 100644 projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
 create mode 100644 projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py

diff --git a/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py b/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py
index ef5ac06698..1e1d8a1b46 100644
--- a/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py
+++ b/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py
@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import struct
 import numpy as np
 from opendr.engine.data import Image, PointCloud, Timeseries
 from opendr.engine.target import (
@@ -20,7 +21,10 @@
 )
 from cv_bridge import CvBridge
 from std_msgs.msg import String, ColorRGBA, Header
-from sensor_msgs.msg import Image as ImageMsg, PointCloud as PointCloudMsg, ChannelFloat32 as ChannelFloat32Msg
+from sensor_msgs.msg import (
+    Image as ImageMsg, PointCloud as PointCloudMsg, ChannelFloat32 as ChannelFloat32Msg,
+    PointField as PointFieldMsg, PointCloud2 as PointCloud2Msg
+)
 from vision_msgs.msg import (
     Detection2DArray, Detection2D, BoundingBox2D, ObjectHypothesisWithPose,
     Detection3D, Detection3DArray, BoundingBox3D as BoundingBox3DMsg,
@@ -33,6 +37,7 @@
     Point
 )
 from opendr_interface.msg import OpenDRPose2D, OpenDRPose2DKeypoint, OpenDRPose3D, OpenDRPose3DKeypoint
+from sensor_msgs import point_cloud2 as pc2
 
 
 class ROS2Bridge:
@@ -362,6 +367,74 @@ def to_ros_point_cloud(self, point_cloud, time_stamp):
 
         return ros_point_cloud
 
+    def from_ros_point_cloud2(self, point_cloud: PointCloud2Msg):
+        """
+        Converts a ROS PointCloud2 message into an OpenDR PointCloud
+        :param point_cloud: ROS PointCloud2 to be converted
+        :type point_cloud: sensor_msgs.msg.PointCloud2
+        :return: OpenDR PointCloud
+        :rtype: engine.data.PointCloud
+        """
+
+        points = pc2.read_points_list(point_cloud, field_names=[f.name for f in point_cloud.fields])
+        result = PointCloud(points)
+
+        return result
+
+    def to_ros_point_cloud2(self, point_cloud: PointCloud, timestamp: str, channels: str=None):
+
+        """
+        Converts an OpenDR PointCloud message into a ROS PointCloud2
+        :param: OpenDR PointCloud
+        :type: engine.data.PointCloud
+        :param: channels to be included in the PointCloud2 message. Available channels names are ["rgb", "rgba"]
+        :type: str
+        :return message: ROS PointCloud2
+        :rtype message: sensor_msgs.msg.PointCloud2
+        """
+
+        header = Header()
+        header.stamp = timestamp
+        header.frame_id = "base_link"
+
+        channel_count = point_cloud.data.shape[-1] - 3
+
+        fields = [PointFieldMsg(name="x", offset=0, datatype=PointFieldMsg.FLOAT32, count=1),
+                  PointFieldMsg(name="y", offset=4, datatype=PointFieldMsg.FLOAT32, count=1),
+                  PointFieldMsg(name="z", offset=8, datatype=PointFieldMsg.FLOAT32, count=1)]
+        if channels == 'rgb' or channels == 'rgba':
+            fields.append(PointFieldMsg(name="rgba", offset=12, datatype=PointFieldMsg.UINT32, count=1))
+        else:
+            for i in range(channel_count):
+                fields.append(PointFieldMsg(name="channel_" + str(i), offset=12 + i * 4, datatype=PointFieldMsg.FLOAT32, count=1))
+
+        points = []
+
+        for point in point_cloud.data:
+            pt = [point[0], point[1], point[2]]
+            for channel in range(channel_count):
+                if channels == 'rgb' or channels == 'rgba':
+                    r = int(point[3])
+                    g = int(point[4])
+                    b = int(point[5])
+
+                    if channels == 'rgb':
+                        a = 255
+                    else:
+                        a = int(point[6])
+
+                    rgba = struct.unpack('I', struct.pack('BBBB', b, g, r, a))[0]
+                    pt.append(rgba)
+                    break
+
+                else:
+                    pt.append(point[3 + channel])
+            points.append(pt)
+
+        ros_point_cloud2 = pc2.create_cloud(header, fields, points)
+
+        return ros_point_cloud2
+
     def from_ros_boxes_3d(self, ros_boxes_3d):
         """
         Converts a ROS2 Detection3DArray message into an OpenDR BoundingBox3D object.
diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
new file mode 100644
index 0000000000..d887ed37ae
--- /dev/null
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
@@ -0,0 +1,174 @@
+#!/usr/bin/env python
+# Copyright 2020-2022 OpenDR European Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import sys
+from pathlib import Path
+import argparse
+from typing import Optional, List
+
+import numpy as  np
+import rclpy
+from rclpy.node import Node
+import matplotlib
+from sensor_msgs.msg import PointCloud2 as ROS_PointCloud2
+
+from opendr_ros2_bridge import ROS2Bridge
+from opendr.perception.panoptic_segmentation import EfficientLpsLearner
+
+# Avoid having a matplotlib GUI in a separate thread in the visualize() function
+matplotlib.use('Agg')
+
+
+class EfficientLpsNode(Node):
+
+    def __init__(self,
+                 input_pcl_topic: str,
+                 checkpoint: str,
+                 output_rgb_visualization_topic: Optional[str] = None
+                 ):
+        """
+        Initialize the EfficientLPS ROS node and create an instance of the respective learner class.
+        :param input_pcl_topic: The name of the input point cloud topic.
+        :type input_pcl_topic: str
+        :param checkpoint: The path to the checkpoint file or the name of the pre-trained model.
+        :type checkpoint: str
+        :param output_rgb_visualization_topic: The name of the output RGB visualization topic.
+        :type output_rgb_visualization_topic: str
+        """
+        super().__init__('opendr_efficient_lps_node')
+
+        self.input_pcl_topic = input_pcl_topic
+        self.checkpoint = checkpoint
+        self.output_rgb_visualization_topic = output_rgb_visualization_topic
+        
+
+        # Initialize all ROS2 related things
+        self._bridge = ROS2Bridge()
+        self._visualization_publisher = None
+
+        # Initialize the panoptic segmentation network
+        config_file = Path(sys.modules[
+            EfficientLpsLearner.__module__].__file__).parent / 'configs' / 'singlegpu_semantickitti.py'
+        self._learner = EfficientLpsLearner(str(config_file))
+
+        # Other
+        self._tmp_folder = Path(__file__).parent.parent / 'tmp' / 'efficientlps'
+        self._tmp_folder.mkdir(exist_ok=True, parents=True)
+
+    def _init_learner(self) -> bool:
+        """
+        The model can be initialized via
+        1. downloading pre-trained weights for SemanticKITTI.
+        2. passing a path to an existing checkpoint file.
+        This has not been done in the __init__() function since logging is available only once the node is registered.
+        """
+        if self.checkpoint in ['semantickitti']:
+            file_path = EfficientLpsLearner.download(str(self._tmp_folder),
+                                                    trained_on=self.checkpoint)
+            self.checkpoint = file_path
+
+        if self._learner.load(self.checkpoint):
+            self.get_logger().info('Successfully loaded the checkpoint.')
+            return True
+        else:
+            self.get_logger().error('Failed to load the checkpoint.')
+            return False
+
+    def _init_publisher(self):
+        """
+        Set up the publishers as requested by the user.
+        """
+        if self.output_rgb_visualization_topic is not None:
+            self._visualization_publisher = self.create_publisher(ROS_PointCloud2,
+                                                                  self.output_rgb_visualization_topic, 
+                                                                  10)
+    def _init_subscriber(self):
+        """
+        Subscribe to all relevant topics.
+        """
+        self.pointcloud2_subscriber = self.create_subscription(ROS_PointCloud2, 
+                                                               self.input_pcl_topic,
+                                                               self.callback,
+                                                               1)
+     
+    def listen(self):
+        """
+        Start the node and begin processing input data. The order of the function calls ensures that the node does not
+        try to process input images without being in a trained state.
+        """
+        if self._init_learner():
+            self._init_publisher()
+            self._init_subscriber()
+            self.get_logger().info('EfficientLPS node started!')
+            rclpy.spin(self)
+
+            # Destroy the node explicitly
+            # (optional - otherwise it will be done automatically
+            # when the garbage collector destroys the node object)
+            self.destroy_node()
+            rclpy.shutdown()
+
+    def callback(self, data: ROS_PointCloud2):
+        """
+        Predict the panoptic segmentation map from the input point cloud and publish the results.
+        :param data: PointCloud2 data message
+        :type data: sensor_msgs.msg.PointCloud2
+        """
+        
+        pointcloud = self._bridge.from_ros_point_cloud2(data)
+
+        try: 
+            prediction = self._learner.infer(pointcloud)
+
+        except Exception as e:
+            self.get_logger().error('Failed to perform inference: {}'.format(e))
+            return
+        
+        try:
+            # The output topics are only published if there is at least one subscriber
+            if self._visualization_publisher is not None and self._visualization_publisher.get_subscription_count() > 0:
+                pointcloud_visualization = EfficientLpsLearner.visualize(pointcloud,
+                                                                         prediction, 
+                                                                         return_pointcloud=True, 
+                                                                         return_pointcloud_type="panoptic")
+                ros_pointcloud2_msg = self._bridge.to_ros_point_cloud2(pointcloud_visualization,
+                                                                       self.get_clock().now().to_msg(),
+                                                                       channels='rgb')
+                self._visualization_publisher.publish(ros_pointcloud2_msg)
+
+        except Exception as e:
+            self.get_logger().error('Failed to publish the results: {}'.format(e))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument('-i', '--input_point_cloud_2_topic', type=str, default='/opendr/dataset_point_cloud2',
+                        help='Point Cloud 2 topic provided by either a \
+                              point_cloud_2_publisher_node or any other 3D Point Cloud 2 Node')
+    parser.add_argument('-c', '--checkpoint', type=str, default='semantickitti',
+                        help='Download pretrained models [semantickitti] or load from the provided path')
+    parser.add_argument('-o', '--output_rgb_visualization_topic', type=str, default="/opendr/panoptic",
+                        help='Publish the rgb visualization on this topic')
+
+    args = parser.parse_args()
+    efficient_lps_node = EfficientLpsNode(args.input_pcl_topic, 
+                                          args.checkpoint,
+                                          args.output_rgb_visualization_topic)
+    efficient_lps_node.listen()
+
+
+if __name__ == '__main__':
+    main()
diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
new file mode 100644
index 0000000000..6025ddc18d
--- /dev/null
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3.6
+# Copyright 2020-2022 OpenDR European Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import argparse
+import time
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import PointCloud2 as ROS_PointCloud2
+from opendr_ros2_bridge import ROS2Bridge
+
+from opendr.perception.panoptic_segmentation import SemanticKittiDataset
+
+
+class PointCloud2DatasetNode(Node):
+
+    def __init__(self,
+                 path: str = './datasets/semantickitti',
+                 split: str = 'valid',
+                 output_point_cloud_2_topic: str = "/opendr/dataset_point_cloud2"
+                 ):
+        super().__init__("opendr_point_cloud_2_dataset_node")
+
+        """
+        Creates a ROS Node for publishing a PointCloud2 message from a DatasetIterator
+        :param dataset: DatasetIterator from which we are reading the point cloud
+        :type dataset: DatasetIterator
+        :param output_point_cloud_2_topic: Topic to which we are publishing the point cloud
+        :type output_point_cloud_2_topic: str
+        """
+
+        self.path = path
+        self.split = split
+        self._ros2_bridge = ROS2Bridge()
+
+        if output_point_cloud_2_topic is not None:
+            self.output_point_cloud_2_publisher = self.create_publisher(
+                output_point_cloud_2_topic, ROS_PointCloud2, queue_size=10
+            )
+
+    def start(self):
+        """
+        Starts the ROS Node
+        """
+        if self._init_dataset():
+            self.get_logger().info("Starting point cloud 2 dataset node")
+        i = 0 
+        print("Starting point cloud 2 publisher")
+        while rclpy.ok():
+            print("Publishing point cloud 2 message")
+            point_cloud = self.dataset[i % len(self.dataset)][0]
+            self.get_logger().info("Publishing point_cloud_2 [" + str(i) + "]")
+            message = self._ros2_bridge.to_ros_point_cloud2(point_cloud, 
+                                                            self.get_clock().now().to_msg(),
+                                                            ROS_PointCloud2)
+            self.point_cloud_2_publisher.publish(message)
+            i += 1
+
+            time.sleep(0.1)
+
+    def _init_dataset(self):
+        try:
+            self.dataset = SemanticKittiDataset(path=self.path, split=self.split)
+            return True
+        except FileNotFoundError:
+            self.get_logger().error("Dataset not found. Please download the dataset and extract it or enter available path.")
+            return False
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument('-d', '--dataset_path', type=str, default='./datasets/semantickitti',
+                        help='listen to pointclouds on this topic')
+    parser.add_argument('-s', '--split', type=str, default='valid',
+                        help='split of the dataset to use (train, valid, test)')
+    parser.add_argument('-o', '--output_point_cloud_2_topic', type=str, default='/opendr/dataset_point_cloud2',
+                        help='topic for the output point cloud')
+    args = parser.parse_args()
+
+    dataset_node = PointCloud2DatasetNode(args.dataset_path, args.split, args.output_point_cloud_2_topic)
+
+    dataset_node.start()
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    dataset_node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()
diff --git a/projects/opendr_ws_2/src/opendr_perception/setup.py b/projects/opendr_ws_2/src/opendr_perception/setup.py
index 1f34005136..14644423e1 100644
--- a/projects/opendr_ws_2/src/opendr_perception/setup.py
+++ b/projects/opendr_ws_2/src/opendr_perception/setup.py
@@ -32,10 +32,12 @@
             'object_tracking_2d_siamrpn = opendr_perception.object_tracking_2d_siamrpn_node:main',
             'face_detection_retinaface = opendr_perception.face_detection_retinaface_node:main',
             'semantic_segmentation_bisenet = opendr_perception.semantic_segmentation_bisenet_node:main',
-            'panoptic_segmentation = opendr_perception.panoptic_segmentation_efficient_ps_node:main',
+            'panoptic_segmentation_efficient_ps = opendr_perception.panoptic_segmentation_efficient_ps_node:main',
+            'panoptic_segmentation_efficient_lps = opendr_perception.panoptic_segmentation_efficient_lps_node:main',
             'face_recognition = opendr_perception.face_recognition_node:main',
             'fall_detection = opendr_perception.fall_detection_node:main',
             'point_cloud_dataset = opendr_perception.point_cloud_dataset_node:main',
+            'point_cloud_2_publisher = opendr_perception.point_cloud_2_publisher_node:main',
             'image_dataset = opendr_perception.image_dataset_node:main',
             'object_detection_3d_voxel = opendr_perception.object_detection_3d_voxel_node:main',
             'object_tracking_3d_ab3dmot = opendr_perception.object_tracking_3d_ab3dmot_node:main',

From 8360f6967fbf672c11fb6bd7547fabfe6397d1e6 Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Tue, 31 Jan 2023 15:37:34 +0100
Subject: [PATCH 02/13] fix(efficientLPS): Small argument variable naming fix

---
 .../panoptic_segmentation_efficient_lps_node.py                 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
index d887ed37ae..f116f69f7e 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
@@ -164,7 +164,7 @@ def main(args=None):
                         help='Publish the rgb visualization on this topic')
 
     args = parser.parse_args()
-    efficient_lps_node = EfficientLpsNode(args.input_pcl_topic, 
+    efficient_lps_node = EfficientLpsNode(args.input_point_cloud_2_topic, 
                                           args.checkpoint,
                                           args.output_rgb_visualization_topic)
     efficient_lps_node.listen()

From 5e6bfd05f933f30419b56ab9afd7b2a8f7bb3202 Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Thu, 2 Feb 2023 14:12:37 +0100
Subject: [PATCH 03/13] docs(efficientLPS): Doc update for ROS2 node list

---
 projects/opendr_ws_2/README.md | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/projects/opendr_ws_2/README.md b/projects/opendr_ws_2/README.md
index 4379f69595..ad23ad474e 100755
--- a/projects/opendr_ws_2/README.md
+++ b/projects/opendr_ws_2/README.md
@@ -67,7 +67,7 @@ Currently, apart from tools, opendr_ws_2 contains the following ROS2 nodes (cate
 6. [2D Object Detection](src/opendr_perception/README.md#2d-object-detection-ros2-nodes)
 7. [2D Single Object Tracking](src/opendr_perception/README.md#2d-single-object-tracking-ros2-node)
 8. [2D Object Tracking](src/opendr_perception/README.md#2d-object-tracking-ros2-nodes)
-9. [Panoptic Segmentation](src/opendr_perception/README.md#panoptic-segmentation-ros2-node)
+9. [Vision Based Panoptic Segmentation](src/opendr_perception/README.md#vision-based-panoptic-segmentation-ros-node)
 10. [Semantic Segmentation](src/opendr_perception/README.md#semantic-segmentation-ros2-node)
 11. [Image-based Facial Emotion Estimation](src/opendr_perception/README.md#image-based-facial-emotion-estimation-ros2-node)
 12. [Landmark-based Facial Expression Recognition](src/opendr_perception/README.md#landmark-based-facial-expression-recognition-ros2-node)
@@ -84,5 +84,6 @@ Currently, apart from tools, opendr_ws_2 contains the following ROS2 nodes (cate
 ## Point cloud input
 1. [3D Object Detection Voxel](src/opendr_perception/README.md#3d-object-detection-voxel-ros2-node)
 2. [3D Object Tracking AB3DMOT](src/opendr_perception/README.md#3d-object-tracking-ab3dmot-ros2-node)
+3. [LiDAR Based Panoptic Segmentation](src/opendr_perception/README.md#lidar-based-panoptic-segmentation-ros-node)
 ## Biosignal input
 1. [Heart Anomaly Detection](src/opendr_perception/README.md#heart-anomaly-detection-ros2-node)

From e797eb63d096d6e7a317d7058001380e73a255e1 Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Fri, 3 Feb 2023 15:24:44 +0100
Subject: [PATCH 04/13] feat(efficientLPS): ROS2 Node added test data support
 and updated docs

---
 .../src/opendr_perception/README.md           | 68 ++++++++++++++++---
 .../point_cloud_2_publisher_node.py           |  5 ++
 2 files changed, 65 insertions(+), 8 deletions(-)

diff --git a/projects/opendr_ws_2/src/opendr_perception/README.md b/projects/opendr_ws_2/src/opendr_perception/README.md
index 1fce5f935d..9d324f45e6 100755
--- a/projects/opendr_ws_2/src/opendr_perception/README.md
+++ b/projects/opendr_ws_2/src/opendr_perception/README.md
@@ -392,9 +392,11 @@ Make sure to change the default input topic of the tracking node if you are not
 
 ### Panoptic Segmentation ROS2 Node
 
-You can find the panoptic segmentation ROS2 node python script [here](./opendr_perception/panoptic_segmentation_efficient_ps_node.py) to inspect the code and modify it as you wish to fit your needs.
+A ROS node for performing panoptic segmentation on a specified RGB image stream using the [EfficientPS](../../../../src/opendr/perception/panoptic_segmentation/README.md#efficientps-efficient-panoptic-segmentation) network.
+
+You can find the vision based panoptic segmentation (EfficientPS) ROS node python script [here](./opendr_perception/panoptic_segmentation_efficient_ps_node.py) to inspect the code and modify it as you wish to fit your needs.
 The node makes use of the toolkit's [panoptic segmentation tool](../../../../src/opendr/perception/panoptic_segmentation/efficient_ps/efficient_ps_learner.py) whose documentation can be found [here](../../../../docs/reference/efficient-ps.md)
-and additional information about Efficient PS [here](../../../../src/opendr/perception/panoptic_segmentation/README.md).
+and additional information about EfficientPS [here](../../../../src/opendr/perception/panoptic_segmentation/README.md).
 
 #### Instructions for basic usage:
 
@@ -403,16 +405,16 @@ and additional information about Efficient PS [here](../../../../src/opendr/perc
 2. You are then ready to start the panoptic segmentation node:
 
     ```shell
-    ros2 run opendr_perception panoptic_segmentation_efficient_ps
+    rosrun opendr_perception panoptic_segmentation_efficient_ps_node.py
     ```
 
     The following optional arguments are available:
-   - `-h or --help`: show a help message and exit
-   - `-i or --input_rgb_image_topic INPUT_RGB_IMAGE_TOPIC` : listen to RGB images on this topic (default=`/image_raw`)
-   - `-oh --output_heatmap_topic OUTPUT_HEATMAP_TOPIC`: publish the semantic and instance maps on this topic as `OUTPUT_HEATMAP_TOPIC/semantic` and `OUTPUT_HEATMAP_TOPIC/instance`, `None` to stop the node from publishing on this topic (default=`/opendr/panoptic`)
-   - `-ov --output_rgb_image_topic OUTPUT_RGB_IMAGE_TOPIC`: publish the panoptic segmentation map as an RGB image on this topic or a more detailed overview if using the `--detailed_visualization` flag, `None` to stop the node from publishing on this topic (default=`opendr/panoptic/rgb_visualization`)
-   - `--detailed_visualization`: generate a combined overview of the input RGB image and the semantic, instance, and panoptic segmentation maps and publish it on `OUTPUT_RGB_IMAGE_TOPIC` (default=deactivated)
+   - `-h, --help`: show a help message and exit
+   - `-i or --input_rgb_image_topic INPUT_RGB_IMAGE_TOPIC` : listen to RGB images on this topic (default=`/usb_cam/image_raw`)
    - `--checkpoint CHECKPOINT` : download pretrained models [cityscapes, kitti] or load from the provided path (default=`cityscapes`)
+   - `-oh or --output_heatmap_topic OUTPUT_RGB_IMAGE_TOPIC`: publish the semantic and instance maps on this topic as `OUTPUT_HEATMAP_TOPIC/semantic` and `OUTPUT_HEATMAP_TOPIC/instance` (default=`/opendr/panoptic`)
+   - `-ov or --output_rgb_image_topic OUTPUT_RGB_IMAGE_TOPIC`: publish the panoptic segmentation map as an RGB image on `VISUALIZATION_TOPIC` or a more detailed overview if using the `--detailed_visualization` flag (default=`/opendr/panoptic/rgb_visualization`)
+   - `--detailed_visualization`: generate a combined overview of the input RGB image and the semantic, instance, and panoptic segmentation maps and publish it on `OUTPUT_RGB_IMAGE_TOPIC` (default=deactivated)
 
 3. Default output topics:
    - Output images: `/opendr/panoptic/semantic`, `/opendr/panoptic/instance`, `/opendr/panoptic/rgb_visualization`
@@ -802,6 +804,37 @@ whose documentation can be found [here](../../../../docs/reference/object-tracki
 
    For viewing the output, refer to the [notes above.](#notes)
 
+
+### LiDAR Based Panoptic Segmentation ROS Node
+A ROS node for performing panoptic segmentation on a specified pointcloud stream using the [EfficientLPS](../../../../src/opendr/perception/panoptic_segmentation/README.md#efficientlps-efficient-lidar-panoptic-segmentation) network.
+
+You can find the lidar based panoptic segmentation ROS node python script [here](./opendr_perception/panoptic_segmentation_efficient_lps_node.py). You can further also find the point cloud 2 publisher ROS node python script [here](./opendr_perception/point_cloud_2_publisher_node.py), and more explanation [here](#point-cloud-2-publisher-ros-node).You can inspect the codes and make changes as you wish to fit your needs.
+The EfficientLPS node makes use of the toolkit's [panoptic segmentation tool](../../../../src/opendr/perception/panoptic_segmentation/efficient_lps/efficient_lps_learner.py) whose documentation can be found [here](../../../../docs/reference/efficient-lps.md)
+and additional information about EfficientLPS [here](../../../../src/opendr/perception/panoptic_segmentation/README.md).
+
+#### Instructions for basic usage:
+
+1.  First one needs to download SemanticKITTI dataset into POINTCLOUD_LOCATION as it is described in the [Panoptic Segmentation Datasets](../../../../src/opendr/perception/panoptic_segmentation/datasets/README.md). Then, once the SPLIT type is specified (train, test or "valid", default "valid"), the point **Point Cloud 2 Publisher** can be started using the following line:
+
+- ```shell
+  ros2 run opendr_perception point_cloud_2_publisher_node.py -d POINTCLOUD_LOCATION -s SPLIT
+  ```
+2. After starting the **PointCloud2 Publisher**, one can start **EfficientLPS Node** using the following line:
+
+- ```shell
+  ros2 run opendr_perception panoptic_segmentation_efficient_lps_node.py /opendr/dataset_point_cloud2
+  ```
+
+  The following optional arguments are available:
+   - `-h, --help`: show a help message and exit
+   - `-i or --input_point_cloud_2_topic INPUT_POINTCLOUD2_TOPIC` : Point Cloud 2 topic provided by either a point_cloud_2_publisher_node or any other 3D Point Cloud 2 Node (default=`/opendr/dataset_point_cloud2`)
+   - `-c or --checkpoint CHECKPOINT` : download pretrained models [semantickitti] or load from the provided path (default=`semantickitti`)
+   - `-o or --output_rgb_visualization_topic OUTPUT_RGB_VISUALIZATION_TOPIC`: publish the RGB visualization on this topic on `OUTPUT_RGB_VISUALIZATION_TOPIC` (default=`/opendr/panoptic`)
+ 
+3. Default output topics:
+   - Detection messages: `/opendr/panoptic`
+
+
 ----
 ## Biosignal input
 
@@ -883,3 +916,22 @@ The following optional arguments are available:
    - `-f or --fps FPS`: data fps (default=`10`)
    - `-d or --dataset_path DATASET_PATH`: path to a dataset, if it does not exist, nano KITTI dataset will be downloaded there (default=`/KITTI/opendr_nano_kitti`)
    - `-ks or --kitti_subsets_path KITTI_SUBSETS_PATH`: path to KITTI subsets, used only if a KITTI dataset is downloaded (default=`../../src/opendr/perception/object_detection_3d/datasets/nano_kitti_subsets`)
+
+### Point Cloud 2 Publisher ROS Node
+
+The point cloud 2 dataset publisher, publishes point cloud 2 messages from pre-downloaded dataset SemanticKITTI. It is currently being used by the ROS node [LiDAR Based Panoptic Segmentation ROS Node](#lidar-based-panoptic-segmentation-ros-node).
+
+You can create an instance of this node with any `DatasetIterator` object that returns `(PointCloud, Target)` as elements,
+to use alongside other nodes and datasets.
+You can inspect [the node](./opendr_perception/point_cloud_2_publisher_node.py) and modify it to your needs for other point cloud datasets.
+
+To get a point cloud from a dataset on the disk, you can start a `point_cloud_2_publisher_node.py` node as:
+```shell
+ros2 run opendr_perception point_cloud_2_publisher_node.py
+```
+The following optional arguments are available:
+   - `-h or --help`: show a help message and exit
+   - `-d or --dataset_path DATASET_PATH`: path of the SemanticKITTI dataset to publish the point cloud 2 message (default=`./datasets/semantickitti`)
+   - `-s or --split SPLIT`: split of the dataset to use, only (train, valid, test) are available (default=`valid`)
+   - `-o or --output_point_cloud_2_topic OUTPUT_POINT_CLOUD_2_TOPIC`: topic name to publish the data (default=`/opendr/dataset_point_cloud2`)
+   - `-t or --test_data`: Add this argument if you want to only test this node with the test data available in our server
\ No newline at end of file
diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
index 6025ddc18d..0e051c7659 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
@@ -23,6 +23,7 @@
 from opendr_ros2_bridge import ROS2Bridge
 
 from opendr.perception.panoptic_segmentation import SemanticKittiDataset
+from opendr.perception.panoptic_segmentation import EfficientLpsLearner
 
 
 class PointCloud2DatasetNode(Node):
@@ -89,8 +90,12 @@ def main(args=None):
                         help='split of the dataset to use (train, valid, test)')
     parser.add_argument('-o', '--output_point_cloud_2_topic', type=str, default='/opendr/dataset_point_cloud2',
                         help='topic for the output point cloud')
+    parser.add_argument('-t', '--test_data', action='store_true',
+                        help='Use uploaded test data on the FTP server')
     args = parser.parse_args()
 
+    if args.test_data:
+        args.dataset_path = EfficientLpsLearner.download(args.dataset_path, mode="test_data", prepare_data=True)
     dataset_node = PointCloud2DatasetNode(args.dataset_path, args.split, args.output_point_cloud_2_topic)
 
     dataset_node.start()

From 37758a079972a8500543c62759e3cf6ff5dceaf6 Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Fri, 3 Feb 2023 15:36:50 +0100
Subject: [PATCH 05/13] docs(efficientLPS): Fix small mistakes in the docs

---
 projects/opendr_ws_2/README.md                       | 4 ++--
 projects/opendr_ws_2/src/opendr_perception/README.md | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/projects/opendr_ws_2/README.md b/projects/opendr_ws_2/README.md
index ad23ad474e..ea4e845297 100755
--- a/projects/opendr_ws_2/README.md
+++ b/projects/opendr_ws_2/README.md
@@ -67,7 +67,7 @@ Currently, apart from tools, opendr_ws_2 contains the following ROS2 nodes (cate
 6. [2D Object Detection](src/opendr_perception/README.md#2d-object-detection-ros2-nodes)
 7. [2D Single Object Tracking](src/opendr_perception/README.md#2d-single-object-tracking-ros2-node)
 8. [2D Object Tracking](src/opendr_perception/README.md#2d-object-tracking-ros2-nodes)
-9. [Vision Based Panoptic Segmentation](src/opendr_perception/README.md#vision-based-panoptic-segmentation-ros-node)
+9. [Vision Based Panoptic Segmentation](src/opendr_perception/README.md#vision-based-panoptic-segmentation-ros2-node)
 10. [Semantic Segmentation](src/opendr_perception/README.md#semantic-segmentation-ros2-node)
 11. [Image-based Facial Emotion Estimation](src/opendr_perception/README.md#image-based-facial-emotion-estimation-ros2-node)
 12. [Landmark-based Facial Expression Recognition](src/opendr_perception/README.md#landmark-based-facial-expression-recognition-ros2-node)
@@ -84,6 +84,6 @@ Currently, apart from tools, opendr_ws_2 contains the following ROS2 nodes (cate
 ## Point cloud input
 1. [3D Object Detection Voxel](src/opendr_perception/README.md#3d-object-detection-voxel-ros2-node)
 2. [3D Object Tracking AB3DMOT](src/opendr_perception/README.md#3d-object-tracking-ab3dmot-ros2-node)
-3. [LiDAR Based Panoptic Segmentation](src/opendr_perception/README.md#lidar-based-panoptic-segmentation-ros-node)
+3. [LiDAR Based Panoptic Segmentation](src/opendr_perception/README.md#lidar-based-panoptic-segmentation-ros2-node)
 ## Biosignal input
 1. [Heart Anomaly Detection](src/opendr_perception/README.md#heart-anomaly-detection-ros2-node)
diff --git a/projects/opendr_ws_2/src/opendr_perception/README.md b/projects/opendr_ws_2/src/opendr_perception/README.md
index 9d324f45e6..f278bfcddc 100755
--- a/projects/opendr_ws_2/src/opendr_perception/README.md
+++ b/projects/opendr_ws_2/src/opendr_perception/README.md
@@ -390,7 +390,7 @@ whose documentation can be found here: [Deep Sort docs](../../../../docs/referen
 An [image dataset node](#image-dataset-ros2-node) is also provided to be used along these nodes.
 Make sure to change the default input topic of the tracking node if you are not using the USB cam node.
 
-### Panoptic Segmentation ROS2 Node
+### Vision Based Panoptic Segmentation ROS2 Node
 
 A ROS node for performing panoptic segmentation on a specified RGB image stream using the [EfficientPS](../../../../src/opendr/perception/panoptic_segmentation/README.md#efficientps-efficient-panoptic-segmentation) network.
 
@@ -405,7 +405,7 @@ and additional information about EfficientPS [here](../../../../src/opendr/perce
 2. You are then ready to start the panoptic segmentation node:
 
     ```shell
-    rosrun opendr_perception panoptic_segmentation_efficient_ps_node.py
+    ros2 run opendr_perception panoptic_segmentation_efficient_ps_node.py
     ```
 
     The following optional arguments are available:
@@ -805,7 +805,7 @@ whose documentation can be found [here](../../../../docs/reference/object-tracki
    For viewing the output, refer to the [notes above.](#notes)
 
 
-### LiDAR Based Panoptic Segmentation ROS Node
+### LiDAR Based Panoptic Segmentation ROS2 Node
 A ROS node for performing panoptic segmentation on a specified pointcloud stream using the [EfficientLPS](../../../../src/opendr/perception/panoptic_segmentation/README.md#efficientlps-efficient-lidar-panoptic-segmentation) network.
 
 You can find the lidar based panoptic segmentation ROS node python script [here](./opendr_perception/panoptic_segmentation_efficient_lps_node.py). You can further also find the point cloud 2 publisher ROS node python script [here](./opendr_perception/point_cloud_2_publisher_node.py), and more explanation [here](#point-cloud-2-publisher-ros-node).You can inspect the codes and make changes as you wish to fit your needs.

From 2c717b818595877bb95952c5658d519376bd6218 Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Fri, 3 Feb 2023 15:40:35 +0100
Subject: [PATCH 06/13] docs(efficientLPS): Fix small typos in the docs

---
 projects/opendr_ws_2/src/opendr_perception/README.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/projects/opendr_ws_2/src/opendr_perception/README.md b/projects/opendr_ws_2/src/opendr_perception/README.md
index f278bfcddc..a8da962b4f 100755
--- a/projects/opendr_ws_2/src/opendr_perception/README.md
+++ b/projects/opendr_ws_2/src/opendr_perception/README.md
@@ -405,7 +405,7 @@ and additional information about EfficientPS [here](../../../../src/opendr/perce
 2. You are then ready to start the panoptic segmentation node:
 
     ```shell
-    ros2 run opendr_perception panoptic_segmentation_efficient_ps_node.py
+    ros2 run opendr_perception panoptic_segmentation_efficient_ps
     ```
 
     The following optional arguments are available:
@@ -817,12 +817,12 @@ and additional information about EfficientLPS [here](../../../../src/opendr/perc
 1.  First one needs to download SemanticKITTI dataset into POINTCLOUD_LOCATION as it is described in the [Panoptic Segmentation Datasets](../../../../src/opendr/perception/panoptic_segmentation/datasets/README.md). Then, once the SPLIT type is specified (train, test or "valid", default "valid"), the point **Point Cloud 2 Publisher** can be started using the following line:
 
 - ```shell
-  ros2 run opendr_perception point_cloud_2_publisher_node.py -d POINTCLOUD_LOCATION -s SPLIT
+  ros2 run opendr_perception point_cloud_2_publisher -d POINTCLOUD_LOCATION -s SPLIT
   ```
 2. After starting the **PointCloud2 Publisher**, one can start **EfficientLPS Node** using the following line:
 
 - ```shell
-  ros2 run opendr_perception panoptic_segmentation_efficient_lps_node.py /opendr/dataset_point_cloud2
+  ros2 run opendr_perception panoptic_segmentation_efficient_lps /opendr/dataset_point_cloud2
   ```
 
   The following optional arguments are available:
@@ -917,7 +917,7 @@ The following optional arguments are available:
    - `-d or --dataset_path DATASET_PATH`: path to a dataset, if it does not exist, nano KITTI dataset will be downloaded there (default=`/KITTI/opendr_nano_kitti`)
    - `-ks or --kitti_subsets_path KITTI_SUBSETS_PATH`: path to KITTI subsets, used only if a KITTI dataset is downloaded (default=`../../src/opendr/perception/object_detection_3d/datasets/nano_kitti_subsets`)
 
-### Point Cloud 2 Publisher ROS Node
+### Point Cloud 2 Publisher ROS2 Node
 
 The point cloud 2 dataset publisher, publishes point cloud 2 messages from pre-downloaded dataset SemanticKITTI. It is currently being used by the ROS node [LiDAR Based Panoptic Segmentation ROS Node](#lidar-based-panoptic-segmentation-ros-node).
 
@@ -927,7 +927,7 @@ You can inspect [the node](./opendr_perception/point_cloud_2_publisher_node.py)
 
 To get a point cloud from a dataset on the disk, you can start a `point_cloud_2_publisher_node.py` node as:
 ```shell
-ros2 run opendr_perception point_cloud_2_publisher_node.py
+ros2 run opendr_perception point_cloud_2_publisher
 ```
 The following optional arguments are available:
    - `-h or --help`: show a help message and exit

From 46d55052d3b8dcd1b72485b1b318b787a249bb1b Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Fri, 3 Feb 2023 16:00:54 +0100
Subject: [PATCH 07/13] style(efficientLPS): Fix pep8

---
 .../src/opendr_bridge/opendr_bridge/bridge.py |  5 +++-
 ...anoptic_segmentation_efficient_lps_node.py | 23 +++++++++----------
 .../point_cloud_2_publisher_node.py           |  5 ++--
 3 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py b/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py
index 1e1d8a1b46..cd919c245e 100644
--- a/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py
+++ b/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py
@@ -406,7 +406,10 @@ def to_ros_point_cloud2(self, point_cloud: PointCloud, timestamp: str, channels:
             fields.append(PointFieldMsg(name="rgba", offset=12, datatype=PointFieldMsg.UINT32, count=1))
         else:
             for i in range(channel_count):
-                fields.append(PointFieldMsg(name="channel_" + str(i), offset=12 + i * 4, datatype=PointFieldMsg.FLOAT32, count=1))
+                fields.append(PointFieldMsg(name="channel_" + str(i),
+                                            offset=12 + i * 4,
+                                            datatype=PointFieldMsg.FLOAT32,
+                                            count=1))
 
         points = []
 
diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
index f116f69f7e..cdbf524062 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
@@ -18,7 +18,6 @@
 import argparse
 from typing import Optional, List
 
-import numpy as  np
 import rclpy
 from rclpy.node import Node
 import matplotlib
@@ -52,7 +51,6 @@ def __init__(self,
         self.input_pcl_topic = input_pcl_topic
         self.checkpoint = checkpoint
         self.output_rgb_visualization_topic = output_rgb_visualization_topic
-        
 
         # Initialize all ROS2 related things
         self._bridge = ROS2Bridge()
@@ -76,7 +74,7 @@ def _init_learner(self) -> bool:
         """
         if self.checkpoint in ['semantickitti']:
             file_path = EfficientLpsLearner.download(str(self._tmp_folder),
-                                                    trained_on=self.checkpoint)
+                                                     trained_on=self.checkpoint)
             self.checkpoint = file_path
 
         if self._learner.load(self.checkpoint):
@@ -92,17 +90,18 @@ def _init_publisher(self):
         """
         if self.output_rgb_visualization_topic is not None:
             self._visualization_publisher = self.create_publisher(ROS_PointCloud2,
-                                                                  self.output_rgb_visualization_topic, 
+                                                                  self.output_rgb_visualization_topic,
                                                                   10)
+
     def _init_subscriber(self):
         """
         Subscribe to all relevant topics.
         """
-        self.pointcloud2_subscriber = self.create_subscription(ROS_PointCloud2, 
+        self.pointcloud2_subscriber = self.create_subscription(ROS_PointCloud2,
                                                                self.input_pcl_topic,
                                                                self.callback,
                                                                1)
-     
+
     def listen(self):
         """
         Start the node and begin processing input data. The order of the function calls ensures that the node does not
@@ -126,22 +125,22 @@ def callback(self, data: ROS_PointCloud2):
         :param data: PointCloud2 data message
         :type data: sensor_msgs.msg.PointCloud2
         """
-        
+
         pointcloud = self._bridge.from_ros_point_cloud2(data)
 
-        try: 
+        try:
             prediction = self._learner.infer(pointcloud)
 
         except Exception as e:
             self.get_logger().error('Failed to perform inference: {}'.format(e))
             return
-        
+
         try:
             # The output topics are only published if there is at least one subscriber
             if self._visualization_publisher is not None and self._visualization_publisher.get_subscription_count() > 0:
                 pointcloud_visualization = EfficientLpsLearner.visualize(pointcloud,
-                                                                         prediction, 
-                                                                         return_pointcloud=True, 
+                                                                         prediction,
+                                                                         return_pointcloud=True,
                                                                          return_pointcloud_type="panoptic")
                 ros_pointcloud2_msg = self._bridge.to_ros_point_cloud2(pointcloud_visualization,
                                                                        self.get_clock().now().to_msg(),
@@ -164,7 +163,7 @@ def main(args=None):
                         help='Publish the rgb visualization on this topic')
 
     args = parser.parse_args()
-    efficient_lps_node = EfficientLpsNode(args.input_point_cloud_2_topic, 
+    efficient_lps_node = EfficientLpsNode(args.input_point_cloud_2_topic,
                                           args.checkpoint,
                                           args.output_rgb_visualization_topic)
     efficient_lps_node.listen()
diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
index 0e051c7659..ed9101f478 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
@@ -58,13 +58,13 @@ def start(self):
         """
         if self._init_dataset():
             self.get_logger().info("Starting point cloud 2 dataset node")
-        i = 0 
+        i = 0
         print("Starting point cloud 2 publisher")
         while rclpy.ok():
             print("Publishing point cloud 2 message")
             point_cloud = self.dataset[i % len(self.dataset)][0]
             self.get_logger().info("Publishing point_cloud_2 [" + str(i) + "]")
-            message = self._ros2_bridge.to_ros_point_cloud2(point_cloud, 
+            message = self._ros2_bridge.to_ros_point_cloud2(point_cloud,
                                                             self.get_clock().now().to_msg(),
                                                             ROS_PointCloud2)
             self.point_cloud_2_publisher.publish(message)
@@ -80,6 +80,7 @@ def _init_dataset(self):
             self.get_logger().error("Dataset not found. Please download the dataset and extract it or enter available path.")
             return False
 
+
 def main(args=None):
     rclpy.init(args=args)
 

From 87fb99cf8b12fc240f4be0b1c36af879c2b8316c Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Fri, 3 Feb 2023 16:03:26 +0100
Subject: [PATCH 08/13] style(efficientLPS): Fix pep8

---
 .../panoptic_segmentation_efficient_lps_node.py                 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
index cdbf524062..31bbe8a414 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
@@ -16,7 +16,7 @@
 import sys
 from pathlib import Path
 import argparse
-from typing import Optional, List
+from typing import Optional
 
 import rclpy
 from rclpy.node import Node

From a315376a35e14b71c61ba90faf4a92dd3e774ed7 Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Tue, 7 Feb 2023 12:33:11 +0100
Subject: [PATCH 09/13] docs(efficientLPS): Fix license dates

---
 .../panoptic_segmentation_efficient_lps_node.py               | 2 +-
 .../opendr_perception/point_cloud_2_publisher_node.py         | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
index 31bbe8a414..a2716924e2 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-# Copyright 2020-2022 OpenDR European Project
+# Copyright 2020-2023 OpenDR European Project
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
index ed9101f478..2561794847 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
@@ -1,5 +1,5 @@
-#!/usr/bin/env python3.6
-# Copyright 2020-2022 OpenDR European Project
+#!/usr/bin/env python
+# Copyright 2020-2023 OpenDR European Project
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

From 489e2eccf24b097516606e7e2e3528e5eb10eeb5 Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Tue, 7 Feb 2023 12:53:24 +0100
Subject: [PATCH 10/13] refactor(efficientLPS): Rename the output topic of
 EfficientLPS ROS2 node

---
 .../src/opendr_perception/README.md            |  2 +-
 ...panoptic_segmentation_efficient_lps_node.py | 18 +++++++++---------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/projects/opendr_ws_2/src/opendr_perception/README.md b/projects/opendr_ws_2/src/opendr_perception/README.md
index a8da962b4f..3198ac631f 100755
--- a/projects/opendr_ws_2/src/opendr_perception/README.md
+++ b/projects/opendr_ws_2/src/opendr_perception/README.md
@@ -829,7 +829,7 @@ and additional information about EfficientLPS [here](../../../../src/opendr/perc
    - `-h, --help`: show a help message and exit
    - `-i or --input_point_cloud_2_topic INPUT_POINTCLOUD2_TOPIC` : Point Cloud 2 topic provided by either a point_cloud_2_publisher_node or any other 3D Point Cloud 2 Node (default=`/opendr/dataset_point_cloud2`)
    - `-c or --checkpoint CHECKPOINT` : download pretrained models [semantickitti] or load from the provided path (default=`semantickitti`)
-   - `-o or --output_rgb_visualization_topic OUTPUT_RGB_VISUALIZATION_TOPIC`: publish the RGB visualization on this topic on `OUTPUT_RGB_VISUALIZATION_TOPIC` (default=`/opendr/panoptic`)
+   - `-o or --output_heatmap_pointcloud_topic OUTPUT_HEATMAP_POINTCLOUD_TOPIC`: publish the 3D heatmap pointcloud on `OUTPUT_HEATMAP_POINTCLOUD_TOPIC` (default=`/opendr/panoptic`)
  
 3. Default output topics:
    - Detection messages: `/opendr/panoptic`
diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
index a2716924e2..d36770d9bf 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
@@ -35,7 +35,7 @@ class EfficientLpsNode(Node):
     def __init__(self,
                  input_pcl_topic: str,
                  checkpoint: str,
-                 output_rgb_visualization_topic: Optional[str] = None
+                 output_heatmap_pointcloud_topic: Optional[str] = None
                  ):
         """
         Initialize the EfficientLPS ROS node and create an instance of the respective learner class.
@@ -43,14 +43,14 @@ def __init__(self,
         :type input_pcl_topic: str
         :param checkpoint: The path to the checkpoint file or the name of the pre-trained model.
         :type checkpoint: str
-        :param output_rgb_visualization_topic: The name of the output RGB visualization topic.
-        :type output_rgb_visualization_topic: str
+        :param output_heatmap_pointcloud_topic: topic for the output 3D heatmap point cloud
+        :type output_heatmap_pointcloud_topic: Optional[str]
         """
         super().__init__('opendr_efficient_lps_node')
 
         self.input_pcl_topic = input_pcl_topic
         self.checkpoint = checkpoint
-        self.output_rgb_visualization_topic = output_rgb_visualization_topic
+        self.output_heatmap_pointcloud_topic = output_heatmap_pointcloud_topic
 
         # Initialize all ROS2 related things
         self._bridge = ROS2Bridge()
@@ -88,9 +88,9 @@ def _init_publisher(self):
         """
         Set up the publishers as requested by the user.
         """
-        if self.output_rgb_visualization_topic is not None:
+        if self.output_heatmap_pointcloud_topic is not None:
             self._visualization_publisher = self.create_publisher(ROS_PointCloud2,
-                                                                  self.output_rgb_visualization_topic,
+                                                                  self.output_heatmap_pointcloud_topic,
                                                                   10)
 
     def _init_subscriber(self):
@@ -159,13 +159,13 @@ def main(args=None):
                               point_cloud_2_publisher_node or any other 3D Point Cloud 2 Node')
     parser.add_argument('-c', '--checkpoint', type=str, default='semantickitti',
                         help='Download pretrained models [semantickitti] or load from the provided path')
-    parser.add_argument('-o', '--output_rgb_visualization_topic', type=str, default="/opendr/panoptic",
-                        help='Publish the rgb visualization on this topic')
+    parser.add_argument('-o', '--output_heatmap_pointcloud_topic', type=str, default="/opendr/panoptic",
+                        help='Publish the output 3D heatmap point cloud on this topic')
 
     args = parser.parse_args()
     efficient_lps_node = EfficientLpsNode(args.input_point_cloud_2_topic,
                                           args.checkpoint,
-                                          args.output_rgb_visualization_topic)
+                                          args.output_heatmap_pointcloud_topic)
     efficient_lps_node.listen()
 
 

From 2adb0a69349dbc5945d55c4fef70c103186e5949 Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Tue, 14 Feb 2023 14:31:10 +0100
Subject: [PATCH 11/13] feat(efficientLPS): Small function/library call fixes
 on ROS2 nodes

---
 .../src/opendr_bridge/opendr_bridge/bridge.py          |  2 +-
 .../panoptic_segmentation_efficient_lps_node.py        |  2 +-
 .../opendr_perception/point_cloud_2_publisher_node.py  | 10 +++++-----
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py b/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py
index cd919c245e..155132eb30 100644
--- a/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py
+++ b/projects/opendr_ws_2/src/opendr_bridge/opendr_bridge/bridge.py
@@ -37,7 +37,7 @@
     Point
 )
 from opendr_interface.msg import OpenDRPose2D, OpenDRPose2DKeypoint, OpenDRPose3D, OpenDRPose3DKeypoint
-from sensor_msgs import point_cloud2 as pc2
+from sensor_msgs_py import point_cloud2 as pc2
 
 
 class ROS2Bridge:
diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
index d36770d9bf..06e9300f91 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/panoptic_segmentation_efficient_lps_node.py
@@ -23,7 +23,7 @@
 import matplotlib
 from sensor_msgs.msg import PointCloud2 as ROS_PointCloud2
 
-from opendr_ros2_bridge import ROS2Bridge
+from opendr_bridge import ROS2Bridge
 from opendr.perception.panoptic_segmentation import EfficientLpsLearner
 
 # Avoid having a matplotlib GUI in a separate thread in the visualize() function
diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
index 2561794847..611b216622 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
@@ -20,7 +20,7 @@
 import rclpy
 from rclpy.node import Node
 from sensor_msgs.msg import PointCloud2 as ROS_PointCloud2
-from opendr_ros2_bridge import ROS2Bridge
+from opendr_bridge import ROS2Bridge
 
 from opendr.perception.panoptic_segmentation import SemanticKittiDataset
 from opendr.perception.panoptic_segmentation import EfficientLpsLearner
@@ -48,9 +48,9 @@ def __init__(self,
         self._ros2_bridge = ROS2Bridge()
 
         if output_point_cloud_2_topic is not None:
-            self.output_point_cloud_2_publisher = self.create_publisher(
-                output_point_cloud_2_topic, ROS_PointCloud2, queue_size=10
-            )
+            self.output_point_cloud_2_publisher = self.create_publisher(ROS_PointCloud2,
+                                                                        output_point_cloud_2_topic,
+                                                                        10)
 
     def start(self):
         """
@@ -67,7 +67,7 @@ def start(self):
             message = self._ros2_bridge.to_ros_point_cloud2(point_cloud,
                                                             self.get_clock().now().to_msg(),
                                                             ROS_PointCloud2)
-            self.point_cloud_2_publisher.publish(message)
+            self.output_point_cloud_2_publisher.publish(message)
             i += 1
 
             time.sleep(0.1)

From a83380ed0ff96a25cad546a0c7c9be95060c2450 Mon Sep 17 00:00:00 2001
From: tsampazk <27914645+tsampazk@users.noreply.github.com>
Date: Wed, 15 Feb 2023 12:08:30 +0200
Subject: [PATCH 12/13] Added missing dependency for new efficient lps node

---
 bin/install.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/bin/install.sh b/bin/install.sh
index ddced59961..1561e9e918 100755
--- a/bin/install.sh
+++ b/bin/install.sh
@@ -48,7 +48,7 @@ fi
 # ROS2 package dependencies
 if [[ ${ROS_DISTRO} == "foxy" || ${ROS_DISTRO} == "humble" ]]; then
   echo "Installing ROS2 dependencies"
-  sudo apt-get -y install python3-lark ros-$ROS_DISTRO-usb-cam ros-$ROS_DISTRO-webots-ros2 python3-colcon-common-extensions ros-$ROS_DISTRO-vision-msgs
+  sudo apt-get -y install python3-lark ros-$ROS_DISTRO-usb-cam ros-$ROS_DISTRO-webots-ros2 python3-colcon-common-extensions ros-$ROS_DISTRO-vision-msgs ros-$ROS_DISTRO-sensor-msgs-py
   LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/$ROS_DISTRO/lib/controller
   cd $OPENDR_HOME/projects/opendr_ws_2/
   git clone --depth 1 --branch ros2 https://github.com/ros-drivers/audio_common src/audio_common

From da944f9bda1c2e0de3af63c2480f1de36e93dbb9 Mon Sep 17 00:00:00 2001
From: aselimc <canakcia@cs.uni-freiburg.de>
Date: Thu, 16 Feb 2023 11:21:27 +0100
Subject: [PATCH 13/13] feat(Continual-SLAM): Make pointcloud2 publisher
 publish a proper error message

---
 .../point_cloud_2_publisher_node.py           | 26 +++++++++----------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
index 611b216622..48bb3f4fce 100644
--- a/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
+++ b/projects/opendr_ws_2/src/opendr_perception/opendr_perception/point_cloud_2_publisher_node.py
@@ -58,19 +58,19 @@ def start(self):
         """
         if self._init_dataset():
             self.get_logger().info("Starting point cloud 2 dataset node")
-        i = 0
-        print("Starting point cloud 2 publisher")
-        while rclpy.ok():
-            print("Publishing point cloud 2 message")
-            point_cloud = self.dataset[i % len(self.dataset)][0]
-            self.get_logger().info("Publishing point_cloud_2 [" + str(i) + "]")
-            message = self._ros2_bridge.to_ros_point_cloud2(point_cloud,
-                                                            self.get_clock().now().to_msg(),
-                                                            ROS_PointCloud2)
-            self.output_point_cloud_2_publisher.publish(message)
-            i += 1
-
-            time.sleep(0.1)
+            i = 0
+            print("Starting point cloud 2 publisher")
+            while rclpy.ok():
+                print("Publishing point cloud 2 message")
+                point_cloud = self.dataset[i % len(self.dataset)][0]
+                self.get_logger().info("Publishing point_cloud_2 [" + str(i) + "]")
+                message = self._ros2_bridge.to_ros_point_cloud2(point_cloud,
+                                                                self.get_clock().now().to_msg(),
+                                                                ROS_PointCloud2)
+                self.output_point_cloud_2_publisher.publish(message)
+                i += 1
+
+                time.sleep(0.1)
 
     def _init_dataset(self):
         try: