This repository contains a ROS package designed for semantic segmentation.
The following instructions were tested with python3.8 on Ubuntu 20.04.
Clone the repository into the src folder of a catkin workspace.
git clone https://github.com/Ginga-Kennis/semantic_segmentation_ros.git
Create and activate a new virtual environment.
cd /path/to/semantic_segmentation_ros
python3 -m venv .venv
source .venv/bin/activate
Install the Python dependencies within the activated virtual environment.
pip install -r requirements.txt
Build and source the catkin workspace,
catkin build semantic_segmentation_ros
source /path/to/catkin_ws/devel/setup.bash
python3 scripts/train.py [--config]
Training and validation metrics are logged to TensorBoard and can be accessed with
tensorboard --logdir=log/training
This package contains an example of realtime semantic segmentation with Intel Realsense D435.
roslaunch semantic_segmentation_ros realsense_semantic_segmentation.launch