feat: add a new project for EoMT

README.md

@@ -47,6 +47,7 @@ ROS 2 support of [OpenMMLab](https://openmmlab.com/) projects using TensorRT.
 |                       | Camera   | [DEIMv2 (ArXiv'2025)](./docs/projects/deimv2.md)                   |
 | Semantic Segmentation | Camera   | [Mask2Former (CVPR'2022)](./docs/projects/mask2former.md)          |
 |                       | Camera   | [PIDNet (ArXiv'2022)](./docs/projects/pidnet.md)                   |
+|                       | Camera   | [EoMT (CVPR'2025)](./docs/projects/eomt.md)                        |
 | Instance Segmentation | Camera   | [Instance RTMDet (ArXiv'2022)](./docs/projects/instance_rtmdet.md) |
 | Panoptic Segmentation | Camera   | [Panoptic FPN (CVPR'2019)](./docs/projects/panoptic_fpn.md)        |
 

docs/index.md

@@ -47,6 +47,7 @@ ROS 2 support of [OpenMMLab](https://openmmlab.com/) projects using TensorRT.
 |                       | Camera   | [DEIMv2 (ArXiv'2025)](./projects/deimv2.md)                   |
 | Semantic Segmentation | Camera   | [Mask2Former (CVPR'2022)](./projects/mask2former.md)          |
 |                       | Camera   | [PIDNet (ArXiv'2022)](./projects/pidnet.md)                   |
+|                       | Camera   | [EoMT (CVPR'2025)](./projects/eomt.md)                        |
 | Instance Segmentation | Camera   | [Instance RTMDet (ArXiv'2022)](./projects/instance_rtmdet.md) |
 | Panoptic Segmentation | Camera   | [Panoptic FPN (CVPR'2019)](./projects/panoptic_fpn.md)        |
 

docs/projects/eomt.md

@@ -0,0 +1,43 @@
+# EoMT
+
+For the details of the model configuration and results, please refer to [here](https://github.com/ktro2828/eomt).
+
+## ONNX Models
+
+| Backbone | Input Shape |                                                        Config                                                        | Checkpoint |                                               ONNX                                                |
+| :------: | :---------: | :------------------------------------------------------------------------------------------------------------------: | :--------: | :-----------------------------------------------------------------------------------------------: |
+|  DinoV2  | 3x1024x1024 | [config](https://github.com/ktro2828/eomt/blob/develop/onnx/configs/dinov2/cityscapes/semantic/eomt_large_1024.yaml) |    N/A     | [1x3x1024x1024](https://drive.google.com/uc?export=download&id=1cHOfOysS0grYzazHQwD_GogF1bWpJMOq) |
+
+## Inference Times
+
+<!-- Please describe inference time of the model using trtexec. -->
+
+| Backbone |  Input Shape  | Precision |  Device  | Median Enqueue Time (ms) |
+| :------: | :-----------: | :-------: | :------: | :----------------------: |
+|  DinoV2  | 1x3x1024x1024 |   FP32    | RTX 3060 |          2.177           |
+
+## Custom TensorRT Plugins
+
+<!-- Please describe custom TensorRT plugins. -->
+
+N/A
+
+## Inputs & Outputs in ROS 2
+
+### Inputs
+
+|     Topic      |           Type           | Description  |
+| :------------: | :----------------------: | :----------: |
+| `/input/image` | `/sensor_msgs/msg/Image` | Input image. |
+
+### Outputs
+
+|     Topic      |           Type           |        Description        |
+| :------------: | :----------------------: | :-----------------------: |
+| `/output/mask` | `/sensor_msgs/msg/Image` | Output segmentation mask. |
+
+## How to Run
+
+```shell
+ros2 launch eomt eomt.launch.xml
+```

projects/eomt/CMakeLists.txt

@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.14)
+project(eomt)
+
+# -------- default to C++17 --------
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+# -------- create compile_commands.json --------
+if(NOT CMAKE_EXPORT_COMPILE_COMMANDS)
+  set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+endif()
+
+# -------- find dependencies --------
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# -------- testing --------
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# -------- install --------
+ament_auto_package(INSTALL_TO_SHARE launch config
+                   data)

projects/eomt/README.md

@@ -0,0 +1 @@
+../../docs/projects/eomt.md

projects/eomt/config/eomt.param.yaml

@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    tensorrt:
+      onnx_path: $(var directory/onnx)/eomt_large_semantic_cisyscapes-static-1024x1024.onnx
+      precision: fp32
+    detector:
+      mean: [0.0, 0.0, 0.0]
+      std: [1.0, 1.0, 1.0]

projects/eomt/launch/eomt.launch.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="file/parameter" default="$(find-pkg-share eomt)/config/eomt.param.yaml" description="Path to the parameter file"/>
+  <arg name="directory/onnx" default="$(find-pkg-share eomt)/data" description="Path to the ONNX model directory"/>
+
+  <arg name="input/image" default="input/image" description="Input image topic"/>
+  <arg name="output/mask" default="output/mask" description="Output mask topic"/>
+  <arg name="use_raw" default="false" description="Use raw image"/>
+  <arg name="build_only" default="false" description="Build only"/>
+
+  <arg name="visualize" default="true" description="Visualize output masks"/>
+
+  <group>
+    <push-ros-namespace namespace="eomt"/>
+    <node pkg="mmros" exec="mmros_semantic_segmentation2d_exe" name="detector" output="screen">
+      <param from="$(var file/parameter)" allow_substs="true"/>
+      <remap from="~/input/image" to="$(var input/image)"/>
+      <remap from="~/output/mask" to="$(var output/mask)"/>
+      <param name="use_raw" value="$(var use_raw)"/>
+      <param name="build_only" value="$(var build_only)"/>
+    </node>
+
+    <group if="$(var visualize)">
+      <node pkg="mmrviz" exec="segmentation2d_visualizer_exe" output="screen">
+        <param name="use_raw" value="$(var use_raw)"/>
+        <remap from="~/input/image" to="$(var input/image)"/>
+        <remap from="~/input/mask" to="$(var output/mask)"/>
+      </node>
+    </group>
+  </group>
+</launch>

projects/eomt/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>eomt</name>
+  <version>0.0.0</version>
+  <description>The ROS 2 package for EoMT.</description>
+  <maintainer email="kotaro.uetake@tier4.jp">ktro2828</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>mmros</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>