I'd like to add support for RF-DETR (Roboflow, Apache-2.0) to this repo as a new isaac_ros_rfdetr package, following the existing isaac_ros_rtdetr structure.
RF-DETR is currently one of the most accurate real-time detectors available. The Apache-2.0 variants reach 48.4 mAP at 2.3 ms (RF-DETR-N, 384x384) up to 56.5 mAP at 6.8 ms (RF-DETR-L, 704x704) on COCO, which beats the YOLO family at comparable latency.
Proposed scope
isaac_ros_rfdetr: decoder node (C++), launch fragments, visualizer script, POL test with a dummy ONNXisaac_ros_rfdetr_models_install: asset script to fetch weights and export ONNX -> TensorRT engine
I'd like to open a PR for this. Before I start, I just want to check that you're interested and that the scope above is the shape you'd want it in. If it looks good I'll begin work.
I'd like to add support for RF-DETR (Roboflow, Apache-2.0) to this repo as a new
isaac_ros_rfdetrpackage, following the existingisaac_ros_rtdetrstructure.RF-DETR is currently one of the most accurate real-time detectors available. The Apache-2.0 variants reach 48.4 mAP at 2.3 ms (RF-DETR-N, 384x384) up to 56.5 mAP at 6.8 ms (RF-DETR-L, 704x704) on COCO, which beats the YOLO family at comparable latency.
Proposed scope
isaac_ros_rfdetr: decoder node (C++), launch fragments, visualizer script, POL test with a dummy ONNXisaac_ros_rfdetr_models_install: asset script to fetch weights and export ONNX -> TensorRT engineI'd like to open a PR for this. Before I start, I just want to check that you're interested and that the scope above is the shape you'd want it in. If it looks good I'll begin work.