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Improve field boundary segmentation model #453

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8bbefe6
add new field boundary model
oxkitsune Feb 2, 2025
2e69e76
v3 model
oxkitsune Feb 3, 2025
e72af59
new v3 model
oxkitsune Feb 3, 2025
c150f4e
TURBOOOOOOOOOO
oxkitsune Feb 13, 2025
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Binary file modified deploy/models/field_boundary.onnx
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4 changes: 1 addition & 3 deletions yggdrasil/src/vision/field_boundary.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -195,8 +195,6 @@ pub fn detect_field_boundary(
.resize(MODEL_INPUT_WIDTH, MODEL_INPUT_HEIGHT)
.expect("Failed to resize image")
.into_iter()
// TODO: Retrain the model in u8 inputs
.map(f32::from)
.collect::<Vec<_>>();

commands
Expand Down Expand Up @@ -224,7 +222,7 @@ pub fn detect_field_boundary(
pub struct FieldBoundaryModel;

impl MlModel for FieldBoundaryModel {
type Inputs = Vec<f32>;
type Inputs = Vec<u8>;
type Outputs = Vec<f32>;

const ONNX_PATH: &'static str = "models/field_boundary.onnx";
Expand Down