ROS package containing SAM 2 ONNX models for image segmentation.
Submodule this repository into a user workspace to make the models available in the moveit_pro_sam2 package for use by MoveIt Pro Behaviors.
The ONNX model files in models/ are exports of Meta's SAM 2 model and are distributed under the Apache License 2.0, with upstream attribution in NOTICE. If you redistribute the models or derivative works, include the license text and the NOTICE file with them.
The files in models/ were exported by PickNik in December 2024 from Meta's SAM 2 sam2_hiera_large checkpoint (facebookresearch/sam2) using torch.onnx.export (PyTorch 2.5.1, per the ONNX producer metadata). No training or fine-tuning was performed. The export scripts and the exact checkpoint revision were not preserved. The same artifacts were first committed to moveit_pro_example_ws in December 2024 (PR #23, "Add example SAM 2 behavior and objective") and moved here unchanged.
| File | SHA-256 |
|---|---|
sam2_hiera_large_encoder.onnx |
c99ab89a38385753aff7ea9155f0808ad5535bc55ea2a49320254e39e4011630 |
sam2_decoder.onnx |
1f448cdb479e6ec14e61c4756138eb4081ce7f8a11ca43a0a24856d5e8b61b6f |
The ONNX model files in models/, and derivative works of those models, are governed by the Apache License 2.0 with the attribution in NOTICE. All other files in this repository are governed by the BSD 3-Clause License, unless a file states otherwise.