Minor changes

leggedrobotics · Sep 13, 2023 · 3cc9fb7 · 3cc9fb7
1 parent f46197f
commit 3cc9fb7
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diff --git a/scripts/dataset_generation/extract_binary_maps.py b/scripts/dataset_generation/extract_binary_maps.py
@@ -150,10 +150,12 @@ def do(n, dry_run):
 
                 if topic == "/depth_camera_front_upper/point_cloud_self_filtered":
                     point_cloud_msg = msg
+                    # print("point_cloud_msg", msg.header.stamp.to_sec())
 
                 elif topic == "/wide_angle_camera_front/img_out":
                     image_msg = msg
                     # print("Received /wide_angle_camera_front/img_out")
+                    # print("image_msg", msg.header.stamp.to_sec())
 
                     info_msg.header = msg.header
                     camera_options = {}
@@ -163,6 +165,7 @@ def do(n, dry_run):
                     info_msg.header = msg.header
                     try:
                         wvn_ros_interface.image_callback(image_msg, point_cloud_msg, info_msg, camera_options)
+                        print("Time diff", abs(point_cloud_msg.header.stamp.to_sec() - image_msg.header.stamp.to_sec()))
                     except Exception as e:
                         print("Bad image_callback", e)
 

diff --git a/wild_visual_navigation/traversability_estimator/traversability_estimator.py b/wild_visual_navigation/traversability_estimator/traversability_estimator.py
@@ -403,6 +403,8 @@ def add_proprio_node(self, pnode: ProprioceptionNode, projection_mode: str = "im
                 mnode.supervision_mask = supervision_masks[i]
                 # mnode.update_supervision_signal()   # Accumulate supervision signal, check if features are there
 
+                # print("Save data...")
+
                 if self._mode == WVNMode.EXTRACT_LABELS:
                     p = os.path.join(
                         self._extraction_store_folder,