Merge branch 'dev/nature_hiking/dev' of github.com:leggedrobotics/wil…

…d_visual_navigation into dev/nature_hiking/dev
leggedrobotics · Jan 11, 2024 · 220185d · 220185d
2 parents 445a7a5 + 0918b4f
commit 220185d
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Showing 4 changed files with 9 additions and 11 deletions.
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
@@ -57,7 +57,7 @@ print_image_callback_time: false
 print_proprio_callback_time: false
 log_time: false
 log_confidence: false
-verbose: false
+verbose: true
 debug_supervision_node_index_from_last: 10
 use_debug_for_desired: false
 

diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/inputs/hdr.yaml
@@ -7,5 +7,5 @@ camera_topics:
     publish_input_image: true
 
 # Provides 1080 (height) x 1920 (width) images
-network_input_image_height: 448 # 448
-network_input_image_width: 448 # 448
+network_input_image_height: 224 # 448
+network_input_image_width: 224 # 448
diff --git a/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py b/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py
@@ -412,11 +412,10 @@ def load_model(self):
         wvn_path = rospack.get_path("wild_visual_navigation_ros")
         os.system(f"rosparam load {wvn_path}/config/wild_visual_navigation/default.yaml wvn_feature_extractor_node")
         os.system(
-            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/wide_angle_front.yaml wvn_feature_extractor_node"
+            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/hdr_compressed.yaml wvn_feature_extractor_node"
         )
         print(
-            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/wide_angle_front.yaml wvn_feature_extractor_node"
-        )
+            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/hdr_compressed.yaml wvn_feature_extractor_node"
 
     wvn = WvnFeatureExtractor()
     rospy.spin()
diff --git a/wild_visual_navigation_ros/scripts/wvn_learning_node.py b/wild_visual_navigation_ros/scripts/wvn_learning_node.py
@@ -370,7 +370,7 @@ def setup_ros(self, setup_fully=True):
                 self.camera_topics[cam]["name"] = cam
 
                 # Set subscribers
-                if self.mode == WVNMode.DEBUG:
+                if self.mode == WVNMode.DEBUG or self.mode == WVNMode.ONLINE:
                     # In debug mode additionally send the image to the callback function
                     self._visualizer = LearningVisualizer()
 
@@ -628,7 +628,6 @@ def imagefeat_callback(self, *args):
         if self.verbose:
             print(f"\nImage callback: {camera_options['name']}... ", end="")
         try:
-
             # Run the callback so as to match the desired rate
             ts = imagefeat_msg.header.stamp.to_sec()
             if abs(ts - self.last_image_ts) < 1.0 / self.image_callback_rate:
@@ -677,7 +676,7 @@ def imagefeat_callback(self, *args):
             torch_image = torch.zeros((3, h_small, w_small), device=self.device, dtype=torch.float32)
 
             # convert image message to torch image
-            if self.mode == WVNMode.DEBUG:
+            if self.mode == WVNMode.DEBUG or self.mode == WVNMode.ONLINE:
                 torch_image = rc.ros_image_to_torch(
                     image_msg, desired_encoding="passthrough", device=self.device
                 ).clone()
@@ -702,7 +701,7 @@ def imagefeat_callback(self, *args):
             # Add node to graph
             added_new_node = self.traversability_estimator.add_mission_node(mission_node, update_features=False)
 
-            if self.mode == WVNMode.DEBUG:
+            if self.mode == WVNMode.DEBUG or self.mode == WVNMode.ONLINE:
                 # Publish current predictions
                 self.visualize_mission_graph()
                 # Publish supervision data depending on the mode
@@ -876,7 +875,7 @@ def visualize_image_overlay(self):
         wvn_path = rospack.get_path("wild_visual_navigation_ros")
         os.system(f"rosparam load {wvn_path}/config/wild_visual_navigation/default.yaml wvn_learning_node")
         os.system(
-            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/wide_angle_front_compressed.yaml wvn_learning_node"
+            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/hdr_compressed.yaml wvn_learning_node"
         )
 
     wvn = WvnLearning()