Files for offline processing

leggedrobotics · Jan 29, 2024 · bca76c3 · bca76c3
1 parent 8754b65
commit bca76c3
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Showing 4 changed files with 6 additions and 9 deletions.
diff --git a/...sual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_compressed.yaml b/...sual_navigation_ros/config/wild_visual_navigation/inputs/wide_angle_front_compressed.yaml
@@ -1,6 +1,6 @@
 camera_topics:
   front:
-    image_topic: "/wide_angle_camera_front/image_color_rect/compressed"
+    image_topic: "/wide_angle_camera_front/image_color/compressed"
     info_topic: "/wide_angle_camera_front/camera_info"
     use_for_training: true
     publish_confidence: true

diff --git a/wild_visual_navigation_ros/launch/replay_launch.launch b/wild_visual_navigation_ros/launch/replay_launch.launch
@@ -3,7 +3,7 @@
   <arg name="name"              default="wild_visual_navigation_node"/>
   <arg name="params_file"       default="$(find wild_visual_navigation_ros)/config/wild_visual_navigation/default.yaml"/>
   <arg name="rviz_config"       default="anymal_dodo.rviz" />
-  <arg name="anymal_config"     default="/home/rschmid/RosBags/uetliberg/dodo_params.yaml" />
+  <arg name="anymal_config"     default="/home/rschmid/RosBags/uetliberg/dodo_params.yaml"/> <!-- /home/rschmid/RosBags/uetliberg/dodo_params.yaml, /home/rschmid/RosBags/6/2023-03-02-11-13-08_anymal-d020-lpc_mission.yaml-->
   <arg name="reload_default_params"    value="False"/>
 
   <arg name="anymal_converter"  default="True"/>
@@ -16,9 +16,9 @@
   <arg name="uncompress_alphasense_cam4"     default="False"/>
   <arg name="uncompress_alphasense_cam5"     default="False"/>
   <arg name="uncompress_wide_angle_front"     default="False"/>
-  <arg name="uncompress_wide_angle_rear"     default="False"/>
+  <arg name="uncompress_wide_angle_rear"     default="True"/>
   <arg name="resize_images_wide_angle_front"     default="False"/>
-  <arg name="resize_images_wide_angle_rear"     default="False"/>
+  <arg name="resize_images_wide_angle_rear"     default="True"/>
 
 
   <!-- Set sim time to true -->

diff --git a/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py b/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py
@@ -443,10 +443,7 @@ 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/hdr_compressed.yaml wvn_feature_extractor_node"
-        )
-        print(
-            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/hdr_compressed.yaml wvn_feature_extractor_node"
+            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/wide_angle_front_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
@@ -875,7 +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/hdr_compressed.yaml wvn_learning_node"
+            f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/wide_angle_front_compressed.yaml wvn_learning_node"
         )
 
     wvn = WvnLearning()