correct camera configs

leggedrobotics · Feb 17, 2024 · dd7e084 · dd7e084
1 parent 6c73d70
commit dd7e084
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Showing 5 changed files with 22 additions and 10 deletions.
diff --git a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/hdr.yaml b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/hdr.yaml
@@ -0,0 +1,12 @@
+camera_topics:
+  # Because this is the anybotics rear
+  rear:
+    image_topic: "/hdr_camera/image_raw"
+    info_topic: "/hdr_camera/camera_info"
+    use_for_training: true
+    publish_confidence: true
+    publish_input_image: true
+    scheduler_weight: 1
+# Provides 1080 (height) x 1920 (width) images
+network_input_image_height: 224 # 448
+network_input_image_width: 224 # 448
diff --git a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual.yaml b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual.yaml
@@ -2,14 +2,14 @@ camera_topics:
   front:
     image_topic: "/wide_angle_camera_front/image_color_rect"
     info_topic: "/wide_angle_camera_front/camera_info"
-    use_for_training: true
+    use_for_training: false
     publish_confidence: true
     publish_input_image: true
     scheduler_weight: 1
   rear:
     image_topic: "/wide_angle_camera_rear/image_color_rect"
     info_topic: "/wide_angle_camera_rear/camera_info"
-    use_for_training: false
+    use_for_training: true
     publish_confidence: true
     publish_input_image: true
     scheduler_weight: 1

diff --git a/...visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual_resize.yaml b/...visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_dual_resize.yaml
@@ -2,14 +2,14 @@ camera_topics:
   front:
     image_topic: "/wide_angle_camera_front/image_color_rect_resize"
     info_topic: "/wide_angle_camera_front_resize/camera_info"
-    use_for_training: true
+    use_for_training: false
     publish_confidence: true
     publish_input_image: true
     scheduler_weight: 1
   rear:
     image_topic: "/wide_angle_camera_rear/image_color_rect_resize"
     info_topic: "/wide_angle_camera_rear_resize/camera_info"
-    use_for_training: false
+    use_for_training: true
     publish_confidence: true
     publish_input_image: true
     scheduler_weight: 1

diff --git a/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front.yaml b/wild_visual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front.yaml
@@ -1,7 +1,7 @@
 camera_topics:
-  front:
-    image_topic: "/wide_angle_camera_front/image_color"
-    info_topic: "/wide_angle_camera_front/camera_info"
+  rear:
+    image_topic: "/wide_angle_camera_rear/image_color"
+    info_topic: "/wide_angle_camera_rear/camera_info"
     use_for_training: true
     publish_confidence: true
     publish_input_image: true

diff --git a/...isual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml b/...isual_navigation_anymal/config/wild_visual_navigation/inputs/wide_angle_front_resize.yaml
@@ -1,7 +1,7 @@
 camera_topics:
-  front:
-    image_topic: "/wide_angle_camera_front/image_color_resize"
-    info_topic: "/wide_angle_camera_front_resize/camera_info"
+  rear:
+    image_topic: "/wide_angle_camera_rear/image_color_resize"
+    info_topic: "/wide_angle_camera_rear_resize/camera_info"
     use_for_training: true
     publish_confidence: true
     publish_input_image: true