sam_seg_module.h

Go to the documentation of this file.

#pragma once
 
#include <opencv2/core.hpp>
 
#include <geolib/datatypes.h>
#include <ros/publisher.h>
#include <tue/config/configuration.h>
 
#include "ed/kinect/entity_update.h"
 
#include <string>
#include <utility>
#include <vector>
 
struct SegmentationResult
{
    std::vector<cv::Mat> masks;
    std::vector<cv::Rect> boxes;
    std::vector<std::string> labels;      // YOLO class name per detection
    std::vector<float> confidences;       // YOLO confidence per detection
};
 
SegmentationResult SegmentationPipeline(const cv::Mat& img, tue::Configuration& config);
 
void overlayMasksOnImage_(cv::Mat& rgb, const std::vector<cv::Mat>& masks);