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fix: unify use_cuda handling in GDBoxer and GDSegmenter #721

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fix: unify use_cuda handling in GDBoxer and GDSegmenter #721

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15 changes: 12 additions & 3 deletions src/rai_extensions/rai_perception/rai_perception/vision_markup/boxer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,10 +13,12 @@
# limitations under the License.


import logging
from os import PathLike
from typing import Dict

import cv2
import torch
from cv_bridge import CvBridge
from groundingdino.util.inference import Model
from rclpy.time import Time
Expand Down Expand Up @@ -64,14 +66,21 @@ def __init__(
weight_path: str | PathLike,
use_cuda: bool = True,
):
self.logger = logging.getLogger(__name__)
self.cfg_path = __file__.replace(
"vision_markup/boxer.py", "configs/gdino_config.py"
)
self.weight_path = str(weight_path)
if not use_cuda:
self.model = Model(self.cfg_path, self.weight_path, device="cpu")
if use_cuda:
if torch.cuda.is_available():
self.device = "cuda"
else:
self.logger.warning("CUDA is not available but requested, using CPU")
self.device = "cpu"
else:
self.model = Model(self.cfg_path, self.weight_path)
self.device = "cpu"

self.model = Model(self.cfg_path, self.weight_path, device=self.device)
self.bridge = CvBridge()

def get_boxes(
Expand Down
8 changes: 7 additions & 1 deletion src/rai_extensions/rai_perception/rai_perception/vision_markup/segmenter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
# limitations under the License.


import logging
from os import PathLike
from typing import List

Expand All @@ -33,13 +34,18 @@ def __init__(
weight_path: str | PathLike,
use_cuda: bool = True,
):
self.logger = logging.getLogger(__name__)
self.cfg_path = "seg_config.yml"
hydra.core.global_hydra.GlobalHydra.instance().clear()
hydra.initialize_config_module("rai_perception.configs")

self.weight_path = str(weight_path)
if use_cuda:
self.device = "cuda" if torch.cuda.is_available() else "cpu"
if torch.cuda.is_available():
self.device = "cuda"
else:
self.logger.warning("CUDA is not available but requested, using CPU")
self.device = "cpu"
else:
self.device = "cpu"
self.sam2_model = build_sam2(
Expand Down