changes to compare wvn offline

leggedrobotics · Mar 7, 2024 · d8a790a · d8a790a
1 parent 53ec625
commit d8a790a
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Showing 7 changed files with 21 additions and 24 deletions.
diff --git a/wild_visual_navigation/cfg/experiment_params.py b/wild_visual_navigation/cfg/experiment_params.py
@@ -91,7 +91,7 @@ class AblationDataModuleParams:
 
     @dataclass
     class ModelParams:
-        name: str = "SimpleMLP"  # LinearRnvp, SimpleMLP, SimpleGCN, DoubleMLP
+        name: str = "LinearRnvp"  # LinearRnvp, SimpleMLP, SimpleGCN, DoubleMLP
         load_ckpt: Optional[str] = None
 
         @dataclass

diff --git a/wild_visual_navigation_ros/config/rviz/anymal_dodo.rviz b/wild_visual_navigation_ros/config/rviz/anymal_dodo.rviz
@@ -13,8 +13,9 @@ Panels:
         - /Wild Visual Navigation1/Prediction1/Traversability Overlay1
         - /Elevation Map WIFI1/Local Planner (SDF)1
         - /Elevation Map RAW1
+        - /Elevation Map RAW1/Visual Traversability1
       Splitter Ratio: 0.5789473652839661
-    Tree Height: 298
+    Tree Height: 572
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -333,10 +334,6 @@ Visualization Manager:
               Alpha: 1
               Show Axes: false
               Show Trail: false
-            base_inverted:
-              Alpha: 1
-              Show Axes: false
-              Show Trail: false
             battery:
               Alpha: 1
               Show Axes: false
@@ -1346,23 +1343,23 @@ Visualization Manager:
           Autocompute Intensity Bounds: true
           Class: grid_map_rviz_plugin/GridMap
           Color: 200; 200; 200
-          Color Layer: visual_traversability
+          Color Layer: anomaly
           Color Transformer: ""
           ColorMap: coolwarm
           Enabled: true
           Grid Cell Decimation: 1
           Grid Line Thickness: 0.10000000149011612
-          Height Layer: elevation_semantic
+          Height Layer: elevation
           Height Transformer: GridMapLayer
           History Length: 1
-          Invert ColorMap: false
+          Invert ColorMap: true
           Max Color: 255; 255; 255
           Max Intensity: 10
           Min Color: 0; 0; 0
           Min Intensity: 0
           Name: Visual Traversability
           Show Grid Lines: true
-          Topic: /elevation_mapping/semantic_map_raw
+          Topic: /elevation_mapping/elevation_map_raw
           Unreliable: false
           Use ColorMap: true
           Value: true
@@ -1453,7 +1450,7 @@ Window Geometry:
     collapsed: false
   F Traversability Overlay Replay:
     collapsed: false
-  Height: 918
+  Height: 1001
   Hide Left Dock: false
   Hide Right Dock: true
   Input Image:
@@ -1468,7 +1465,7 @@ Window Geometry:
     collapsed: false
   Placeholder:
     collapsed: false
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+  QMainWindow State: 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   R Confidence Raw:
     collapsed: false
   R Input Image:

diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
@@ -23,12 +23,12 @@ proprio_graph_dist_thr: 0.1 # meters
 network_input_image_height: 224 # 448
 network_input_image_width: 224 # 448
 segmentation_type: "random"
-feature_type: "dino2"
+feature_type: "dino"
 dino_patch_size: 16 # 8 or 16; 8 is finer
 slic_num_components: 100
-dino_dim: 768 # 90 or 384; 384 is better, 768 for dino v2
+dino_dim: 384 # 90 or 384; 384 is better, 768 for dino v2
 confidence_std_factor: 4.0
-scale_traversability: True  # This parameter needs to be false when using the anomaly detection model
+scale_traversability: False  # This parameter needs to be false when using the anomaly detection model
 scale_traversability_max_fpr: 0.25
 min_samples_for_training: 5
 prediction_per_pixel: True

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/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"/>
@@ -15,9 +15,9 @@
   <arg name="uncompress_alphasense_cam3"     default="False"/>
   <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_front"     default="True"/>
   <arg name="uncompress_wide_angle_rear"     default="False"/>
-  <arg name="resize_images_wide_angle_front"     default="False"/>
+  <arg name="resize_images_wide_angle_front"     default="True"/>
   <arg name="resize_images_wide_angle_rear"     default="False"/>
 
 

diff --git a/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py b/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py
@@ -446,10 +446,10 @@ 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/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"
         )
+        # print(
+        #     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
@@ -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()