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WATonomous / wato_monorepo

Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Apache License 2.0
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Segformer Semantic Segmentation #131

Closed lucasreljic closed 3 months ago

lucasreljic commented 5 months ago

Node running: The model is: "segformer_mit-b2_8xb1-160k_cityscapes-1024x1024"

https://github.com/WATonomous/wato_monorepo/assets/56940300/dca8fd7d-b54c-4bcd-9769-d9e548a11563

danielrhuynh commented 4 months ago

Wait for Eddie before merging tho

Edwardius commented 4 months ago

Since this is a transformer, how much vram does this take up?

lucasreljic commented 4 months ago

I moved all the config stuff in the yaml file, the docker file should be smaller now. The publisher message is still one Image but it's just the mask now. I can change to a boolean array (such as ByteMultiArray I think) or the new vision message you mentioned. Let me know which one I should implement.

lucasreljic commented 3 months ago

Should a LabelInfo topic still be created for semantics, to map the class name to the int value in the mask?