Add point queries and clean up GetMasks2D message. #24
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sea-bass
reviewed
Dec 22, 2023
Exposing an API with points and boxes would involve some extra effort right now. SAM only allows one bounding box and therefore can't do negative boxes. Also, that sole box might not play well together with points. There are some threads about issues with that and Meta's demo only lets you use either one, not in combination. So, I'm deferring box queries until we see if multi-point queries do not give us what box queries would. |
sea-bass
approved these changes
Dec 22, 2023
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This PR adds point queries to the segmentation action goal. This is compatible with the interface of the upcoming Superseg model. Other segmentation action servers should also enforce that only masks containing at least one point are returned.