from grid.model.perception.marigold_e2e_ft import MarigoldE2EFT
car = AirGenCar()

# We will be capturing an image from the AirGen simulator 
# and run model inference on it.

img =  car.getImage("front_center", "rgb").data

model = MarigoldE2EFT(use_local = False)
result = model.run(rgbimage=img)
print(result.shape)

The MarigoldE2EFT class is a wrapper for the Marigold end-to-end fine-tuned depth estimation model.

​
class MarigoldE2EFT()
​
use_local
boolean
default:
"False"

If True, inference call is run on the local VM, else offloaded onto GRID-Cortex. Defaults to False.

​
def run()
​
rgbimage
np.ndarray
required

The input RGB image of shape (M,N,3)(M,N,3).

​
Returns
np.ndarray

The predicted depth map of shape (M,N)(M,N).

from grid.model.perception.marigold_e2e_ft import MarigoldE2EFT
car = AirGenCar()

# We will be capturing an image from the AirGen simulator 
# and run model inference on it.

img =  car.getImage("front_center", "rgb").data

model = MarigoldE2EFT(use_local = False)
result = model.run(rgbimage=img)
print(result.shape)

This code is licensed under the Apache 2.0 License.

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