git clone --recursive git@github.com:SergeyuiL/top-down-map.git
cd top-down-map/
conda env create -f environment.yaml
conda activate tdmap
python -m spacy download en_core_web_sm
mkdir ckp && cd ckp
wget https://dl.fbaipublicfiles.com/segment_anything/sam_vit_h_4b8939.pth
cd ..
cd segment-anything; pip install -e .; cd ..
Feel free to download my rosbag:indoor rosbag
Preprocess:rosbag play
Save the data in advance to the data folder in the following format:
data
├── camera_info.json
├── color
│ ├── 0.png
│ ├── 1.png
│ ├── 2.png
│ ├── 3.png
│ ├── 4.png
│ ├── ...
├── depth
│ ├── 0.png
│ ├── 1.png
│ ├── 2.png
│ ├── 3.png
│ ├── 4.png
│ ├── ...
└── pose
├── 0.txt
├── 1.txt
├── 2.txt
├── 3.txt
├── 4.txt
├── ...
python Semantic-Segment-Anything/scripts/main_ssa_engine.py --data_dir=<The name of your dataset> --out_dir=output --world_size=1 --save_img --sam --ckpt_path=ckp/sam_vit_h_4b8939.pth --light_mode
# e.g. python Semantic-Segment-Anything/scripts/main_ssa_engine.py --data_dir=data/color --out_dir=data/semantic --world_size=1 --save_img --sam --ckpt_path=ckp/sam_vit_h_4b8939.pth --light_mode
python scripts/seg_my_classes.py --data_dir=<path to data>
# e.g. python scripts/seg_my_classes.py --data_dir=data/
python scripts/mapping_utils.py --data_dir=<path to data> --map_save_dir=<path to save maps>
# e.g., python scripts/mapping_utils.py --data_dir=data/ --map_save_dir=maps/locobot
# show color map
# python scripts/show_map.py --map_save_dir=maps/locobot