{"id":23157021,"url":"https://github.com/giuliano-97/active_panoptic_mapping","last_synced_at":"2026-04-18T11:03:20.887Z","repository":{"id":71482566,"uuid":"483273990","full_name":"giuliano-97/active_panoptic_mapping","owner":"giuliano-97","description":"Informative Planning for Accurate Panoptic Mapping","archived":false,"fork":false,"pushed_at":"2022-10-07T18:37:21.000Z","size":365,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-10-08T23:25:03.558Z","etag":null,"topics":["computer-vision","mapping","path-planning","robotics","ros"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/giuliano-97.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-04-19T14:10:05.000Z","updated_at":"2023-01-02T13:57:06.000Z","dependencies_parsed_at":"2023-04-25T18:47:48.270Z","dependency_job_id":null,"html_url":"https://github.com/giuliano-97/active_panoptic_mapping","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/giuliano-97/active_panoptic_mapping","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/giuliano-97%2Factive_panoptic_mapping","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/giuliano-97%2Factive_panoptic_mapping/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/giuliano-97%2Factive_panoptic_mapping/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/giuliano-97%2Factive_panoptic_mapping/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/giuliano-97","download_url":"https://codeload.github.com/giuliano-97/active_panoptic_mapping/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/giuliano-97%2Factive_panoptic_mapping/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":31966218,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-18T00:39:45.007Z","status":"online","status_checked_at":"2026-04-18T02:00:07.018Z","response_time":103,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["computer-vision","mapping","path-planning","robotics","ros"],"created_at":"2024-12-17T21:16:09.551Z","updated_at":"2026-04-18T11:03:20.828Z","avatar_url":"https://github.com/giuliano-97.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Active panoptic mapping\n\n\n## Setup\n\n### Dependencies\n\nThis project uses [Robostack](https://robostack.github.io/) so only a minimal `conda` installation such as [`mambaforge`](https://github.com/conda-forge/miniforge) is required to get started. \n\n### Installation\n\n\n1. Create a directory tree for catkin workspace:\n\n    ```\n    mkdir -p catkin_ws/src \n    cd catkin_ws/src\n    ```\n1. Clone this repository in the src directory:\n\n    ```\n    git clone git@github.com:giuliano-97/active_panoptic_mapping.git\n    ```\n\n1. Make sure `mamba` is install in your `base` environment (not needed when using `mambaforge`), then create the conda environment by running:\n\n    ```\n    mamba env create -f environment.yml\n    ```\n1. Activate the create conda environment:\n    ```\n    conda activate active_panoptic_mapping_env\n    ```\n1. Initialize the catkin workspace:\n    ```\n    cd .. \u0026\u0026 catkin init\n    catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo\n    catkin config --merge-devel\n    cd src\n    ```\n1. Install package dependencies using ros install:\n    - If you created a new workspace:\n    ```\n    wstool init . /active_panoptic_mapping/active_panoptic_mapping_ssh.rosinstall\n    wstool update\n    ```\n    - If you use an existing workspace. Notice that some dependencies require specific branches that will be checked out.\n    ```\n    wstool merge -t . ./active_panoptic_mapping/active_panoptic_mapping.rosinstall\n    wstool update\n    ```\n1. Apply some minor patches to the `eigen_catkin` and `opencv3_catkin` packages to avoid compilation errors:\n    ```\n    bash active_panoptic_mapping/apply_patches.sh\n    ```\n1. Compile and source the ros environment:\n    ```\n    catkin build active_panoptic_mapping_utils\n    source ../devel/setup.bash\n    ```\n\n## Examples\n### Replica Demo\n\n1. Download the Replica dataset by following the download instructions [on the GitHub page](https://github.com/facebookresearch/Replica-Dataset#download-on-mac-os-and-linux). \n1. Launch the `active_panoptic_mapping_node` on the Replica \"FRL-Apartment-0\" scene:\n    ```\n    roslaunch active_panoptic_mapping_ros run.launch datasets_dir:=$(dirname \u003cPATH_TO_REPLICA_DIR\u003e)\n\n    ```\n1. Start publishing simulated sensor data:\n    ```\n    rosservice call /habitat_sim_node/toggle_pub_sensor_data true\n    ```\n1. Start the planner:\n    ```\n    rosservice call /active_panoptic_mapping_node/toggle_running true\n    ```\n\n1. By default, this will use the ground truth panoptic labels provided by the simulation. To use panoptic labels predicted online by Mask2Former, you  need to additionally pass the use_ground_truth:=false argument:\n    ```\n    roslaunch active_panoptic_mapping_ros run.launch datasets_dir:=$(dirname \u003cPATH_TO_REPLICA_DIR\u003e) use_ground_truth:=false\n    ```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgiuliano-97%2Factive_panoptic_mapping","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fgiuliano-97%2Factive_panoptic_mapping","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fgiuliano-97%2Factive_panoptic_mapping/lists"}