Method Segmentation

sloam/src/segmentation/inference.cpp:5–19

namespace seg {
Segmentation::Segmentation(const std::string modelFilePath,
    const float fov_up, const float fov_down, const int img_w, const int img_h, const int img_d, bool do_destagger) {
  _fov_up = fov_up / 180.0 * M_PI;    // field of view up in radians
  _fov_down = fov_down / 180.0 * M_PI;  // field of view down in radians
  _fov = std::abs(_fov_down) + std::abs(_fov_up); // get field of view total in radians
  _img_w = img_w;
  _img_h = img_h;
  _img_d = img_d;
  _verbose = false;
  _do_destagger = do_destagger;

  const std::string sessionName = "SLOAMSeg";
  // specify number of CPU threads allowed for semantic segmentation inference to use
  _startONNXSession(sessionName, modelFilePath, false, 3);
}

void Segmentation::_startONNXSession(const std::string sessionName, const std::string modelFilePath, bool useCUDA, size_t numThreads){
    Ort::SessionOptions sessionOptions;