├── .clang-format ├── .cmake-format.yaml ├── .github └── workflows │ └── ci.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .ruff.toml ├── LICENSE ├── README.md ├── contributors.md ├── docs ├── closed_set.md ├── exporting.md ├── media │ └── demo_segmentation.png └── open_set.md ├── exporting ├── export_efficientvit.py └── export_mit_semseg.py ├── extras └── semantic_inference_closed_set_zoo │ ├── COLCON_IGNORE │ ├── MANIFEST.in │ ├── README.md │ ├── pyproject.toml │ ├── setup.py │ └── src │ └── semantic_inference_closed_set_zoo │ ├── __init__.py │ ├── __main__.py │ ├── mask2former_wrapper.py │ └── model_weights.yaml ├── install └── packages.yaml ├── semantic_inference ├── CMakeLists.txt ├── app │ └── demo_segmentation.cpp ├── cmake │ ├── Config.cmake.in │ ├── FindTensorRT.cmake │ └── config.h.in ├── include │ └── semantic_inference │ │ ├── image_recolor.h │ │ ├── image_rotator.h │ │ ├── image_utilities.h │ │ ├── logging.h │ │ ├── model_config.h │ │ └── segmenter.h ├── package.xml ├── pyproject.toml ├── python │ ├── semantic_inference │ │ ├── __init__.py │ │ ├── __main__.py │ │ ├── commands │ │ │ ├── __init__.py │ │ │ ├── color.py │ │ │ ├── labelspace.py │ │ │ ├── model.py │ │ │ └── run.py │ │ ├── image_io.py │ │ ├── misc.py │ │ ├── models │ │ │ ├── __init__.py │ │ │ ├── feature_visualizers.py │ │ │ ├── mask_functions.py │ │ │ ├── openset_segmenter.py │ │ │ ├── patch_extractor.py │ │ │ ├── segment_refinement.py │ │ │ └── wrappers.py │ │ └── visualization.py │ └── test │ │ ├── conftest.py │ │ ├── helpers.py │ │ ├── models │ │ ├── test_mask_functions.py │ │ ├── test_patch_extractor.py │ │ ├── test_segment_refinement.py │ │ └── test_wrappers.py │ │ ├── resources │ │ ├── cat.jpg │ │ ├── christmas.jpg │ │ ├── clip_test_pairs │ │ │ ├── dense_test_pair_000.npz │ │ │ └── test_pair_000.npz │ │ ├── dog.jpg │ │ └── tree.jpg │ │ └── test_openset_segmenter.py ├── resources │ ├── ade20k_categories.csv │ └── mpcat40.tsv ├── src │ ├── image_recolor.cpp │ ├── image_rotator.cpp │ ├── image_utilities.cpp │ ├── logging.cpp │ ├── model.cpp │ ├── model.h │ ├── model_config.cpp │ ├── segmenter.cpp │ ├── trt_utilities.cpp │ └── trt_utilities.h └── tests │ ├── CMakeLists.txt │ ├── utest_image_utilities.cpp │ └── utest_main.cpp ├── semantic_inference_msgs ├── CMakeLists.txt ├── msg │ ├── FeatureImage.msg │ ├── FeatureVector.msg │ ├── FeatureVectorStamped.msg │ └── FeatureVectors.msg ├── package.xml └── srv │ └── EncodeFeature.srv └── semantic_inference_ros ├── CMakeLists.txt ├── LICENSE ├── app ├── closed_set_rosbag_writer.cpp ├── image_embedding_node ├── open_set_node └── text_embedding_node ├── config ├── distinct_150_colors.csv ├── label_groupings │ ├── ade20k_full.yaml │ ├── ade20k_indoor.yaml │ ├── ade20k_mit.yaml │ ├── ade20k_mp3d.yaml │ ├── ade20k_outdoor.yaml │ └── mpcat40.yaml ├── models │ ├── ade20k-efficientvit_seg_l2.yaml │ ├── ade20k-hrnetv2-c1.yaml │ └── ade20k-mobilenetv2dilated-c1_deepsup.yaml └── openset │ └── 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