Remove unnecessary libraries, added visu for learning trajectory

leggedrobotics · Sep 1, 2023 · 2877f28 · 2877f28
1 parent 89746f6
commit 2877f28
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Showing 3 changed files with 121 additions and 113 deletions.
diff --git a/wild_visual_navigation/traversability_estimator/traversability_estimator.py b/wild_visual_navigation/traversability_estimator/traversability_estimator.py
@@ -29,12 +29,7 @@
 import torch.nn.functional as F
 import torchvision.transforms as transforms
 from torchmetrics import ROC
-import numpy as np
-import cv2
-import rospy
 import random
-from sensor_msgs.msg import Image
-from cv_bridge import CvBridge
 
 to_tensor = transforms.ToTensor()
 
@@ -109,12 +104,6 @@ def __init__(
         # Visualization
         self._visualizer = LearningVisualizer()
 
-        if self._vis_training_samples:
-            self._last_image_mask_pub = rospy.Publisher(
-                f"/wild_visual_navigation_node/last_node_image_mask", Image, queue_size=1
-            )
-            self._bridge = CvBridge()
-
         # Lightning module
         seed_everything(42)