This ROS 2 package is used to preform semantic segmentation on the ROS 2 camera stream.
Loads a PyTorch model from disk.
Subscribes to the image topic.
Runs semantic segmentation.
Generates:
The original image. A segmentation map (color-coded by risk). An overlay with segmentation + a circle over the safest region.
Publishes those 3 images to ROS 2 topics:
/image_topic/segmentation_topic/overlay_topic