kenning-instance-segmentation.json

[
  {
    "type": "kenning.dataproviders.ros2_camera_node_receiver.ROS2CameraNodeDataProvider",
    "parameters": {
      "node_name": "ros2_camera_node_dataloader",
      "topic_name": "camera_frame",
      "output_memory_layout": "NCHW",
      "output_width": 550,
      "output_height": 550
    },
    "outputs": {
      "frame": "cam_frame",
      "frame_original": "cam_frame_original"
    }
  },
  {
    "type": "kenning.runners.modelruntime_runner.ModelRuntimeRunner",
    "parameters": {
      "model_wrapper": {
        "type": "kenning.modelwrappers.instance_segmentation.yolact.YOLACT",
        "parameters": {
          "model_path": "kenning:///models/instance_segmentation/yolact.onnx",
          "top_k": 100,
          "score_threshold": 0.2
        }
      },
      "runtime": {
        "type": "kenning.runtimes.tvm.TVMRuntime",
        "parameters":
        {
          "save_model_path": "./build/compiled-model.so",
          "target_device_context": "cuda",
          "runtime_use_vm": false
        }
      }
    },
    "inputs": {
      "input": "cam_frame"
    },
    "outputs": {
      "segmentation_output": "predictions"
    }
  },
  {
    "type": "kenning.outputcollectors.ros2_yolact_outputcollector.ROS2YolactOutputCollector",
    "parameters": {
      "node_name": "ros2_yolact_outputcollector",
      "topic_name": "instance_segmentation_kenning",
      "input_color_format": "BGR",
      "input_memory_layout": "NCHW"
    },
    "inputs": {
      "frame": "cam_frame_original",
      "output": "predictions"
    }
  }
]