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johannes-graeter / limo

Lidar-Monocular Visual Odometry
GNU General Public License v3.0
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Semantic segmentation frameworks #78

Open johannes-graeter opened 2 years ago

johannes-graeter commented 2 years ago

https://github.com/SwinTransformer/Swin-Transformer-Semantic-Segmentation

https://github.com/open-mmlab/mmsegmentation

johannes-graeter commented 2 years ago

https://github.com/open-mmlab/mmsegmentation/blob/master/docs/en/get_started.md#installation

seems very good lets give that a try! i will try do so until next week

FYI @zephyrdaddy

PS: Release v1.0 of mmsegmentation seems to be around the corner, I would still work with the current version since it is unclear when the release will happen

johannes-graeter commented 2 years ago

Just tried mmsegmentation with the default settings, training from the demo and raw KITTI. Works like a charm with very good results, definitely the way to go, we could also try some other models they provide, but this one is already very good. semantic_seg2 semantic_seg0

command: python demo/image_demo.py $HOME/Downloads/2011_09_26_drive_0005_sync/2011_09_26/2011_09_26_drive_0005_sync/image_02/data/0000000099.png configs/pspnet/pspnet_r50-d8_512x1024_40k_cityscapes.py pspnet_r50-d8_512x1024_40k_cityscapes_20200605_003338-2966598c.pth --device cuda:0 --out-file result.jpg