refactor(pipeline): integrate SAM segmentation and modularize model loading

mini-nav/utils/common.py

@@ -3,11 +3,10 @@ from pathlib import Path
 
 import torch
 from configs import cfg_manager
-from torch.types import Device
 
 
 @lru_cache(maxsize=1)
-def get_device() -> Device:
+def get_device() -> torch.device:
     config = cfg_manager.get()
     device = config.model.device
     if device == "auto":