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updates for new sem
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JonasFrey96 committed Feb 7, 2024
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3 changes: 2 additions & 1 deletion setup.py
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from distutils.core import setup

# Minimum dependencies required prior to installation
# TODO: If we add the "opencv-python>=4.6", it wont build on the jetson

INSTALL_REQUIRES = [
# generic
"numpy",
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"termcolor",
"pydensecrf@git+https://github.com/lucasb-eyer/pydensecrf.git",
"liegroups@git+https://github.com/mmattamala/liegroups",
"opencv-python>=4.6",
"wget",
"rospkg",
]
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1 change: 1 addition & 0 deletions wild_visual_navigation/cfg/global_params.py
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Expand Up @@ -10,5 +10,6 @@ class GlobalEnvironmentParams:
def get_global_env_params(name):
configs = {
"default": GlobalEnvironmentParams(perugia_root="TBD", results="results"),
"ge76": GlobalEnvironmentParams(perugia_root="TBD", results="results"),
}
return configs[name]
13 changes: 13 additions & 0 deletions wild_visual_navigation_ros/README.md
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Commands for deployment:

# Start/stop recording
$HOME/workspaces/catkin_ws/src/wild_visual_navigation/wild_visual_navigation_ros/config/recording/start_recording.sh
$HOME/workspaces/catkin_ws/src/wild_visual_navigation/wild_visual_navigation_ros/config/recording/stop_recording.sh

# Copying the data
$HOME/workspaces/catkin_ws/src/anymal_rsl/anymal_rsl/anymal_rsl_utils/anymal_rsl_recording/anymal_rsl_recording/bin/copy_mission_data_from_robot.sh jonfrey dodo 2024-02-06-15-20-33 /Data/2024_02_06_Dodo_MPI_WVN

ssh jonfrey@anymal-dodo-jetson -t 'chown -R jonfrey ~/git/anymal_rsl/anymal_rsl/anymal_rsl_utils/anymal_rsl_recording/anymal_rsl_recording/data/'
ssh jonfrey@anymal-dodo-jetson -t 'chgrp -R jonfrey ~/git/anymal_rsl/anymal_rsl/anymal_rsl_utils/anymal_rsl_recording/anymal_rsl_recording/data/'

$HOME/workspaces/catkin_ws/src/anymal_rsl/anymal_rsl/anymal_rsl_utils/anymal_rsl_recording/anymal_rsl_recording/bin/remove_mission_data_from_robot.sh jonfrey dodo
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Expand Up @@ -55,43 +55,48 @@ enable_normal_color: false # If true, the map contains 'col

#### Traversability filter ########
use_chainer: false # Use chainer as a backend of traversability filter or pytorch. If false, it uses pytorch. pytorch requires ~2GB more GPU memory compared to chainer but runs faster.
weight_file: '$(rospack find elevation_mapping_cupy)/config/weights.dat' # Weight file for traversability filter
weight_file: '$(rospack find elevation_mapping_cupy)/config/core/weights.dat' # Weight file for traversability filter

#### Upper bound ########
use_only_above_for_upper_bound: false

#### Initializer ########
initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic'
initialize_frame_id: ['RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT'] # One tf (like ['footprint'] ) initializes a square around it.
initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id.
dilation_size_initialize: 5 # dilation size after the init.
initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3.
use_initializer_at_start: true # Use initializer when the node starts.

#### Plugins ########
plugin_config_file: '$(rospack find wild_visual_navigation_ros)/config/elevation_mapping_cupy/anymal_plugin_config.yaml'

pointcloud_channel_fusions:
rgb: 'color'
default: 'average'

image_channel_fusions:
rgb: 'color'
default: 'exponential'
feat_.*: 'exponential'
sem_.*: 'exponential'


#### Publishers ########
# topic_name:
# layers: # Choose from 'elevation', 'variance', 'traversability', 'time', 'normal_x', 'normal_y', 'normal_z', 'color', plugin_layer_names
# basic_layers: # basic_layers for valid cell computation (e.g. Rviz): Choose a subset of `layers`.
# fps: # Publish rate. Use smaller value than `map_acquire_fps`.

publishers:
elevation_map_raw:
layers: ['elevation', 'traversability', 'variance']
layers: ['elevation', 'traversability', 'variance', 'rgb']
basic_layers: ['elevation', 'traversability']
fps: 5.0

semantic_map_raw:
layers: ['elevation', 'traversability', 'visual_traversability', 'elevation_semantic']
# layers: [ 'elevation', 'traversability', 'visual_traversability']
layers: ['elevation', 'traversability', 'visual_traversability', 'visual_confidence', 'elevation_with_semantics']
basic_layers: ['elevation', 'traversability']
fps: 5.0
# elevation_map_recordable:
# layers: ['elevation', 'traversability']
# basic_layers: ['elevation', 'traversability']
# fps: 2.0
# elevation_map_filter:
# layers: ['min_filter', 'smooth', 'inpaint', 'upper_bound','rgb']
# basic_layers: ['min_filter']
# fps: 3.0

#### Initializer ########
initialize_method: 'linear' # Choose one from 'nearest', 'linear', 'cubic'
initialize_frame_id: ['RF_FOOT', 'LF_FOOT', 'RH_FOOT', 'LH_FOOT'] # One tf (like ['footprint'] ) initializes a square around it.
initialize_tf_offset: [0.0, 0.0, 0.0, 0.0] # z direction. Should be same number as initialize_frame_id.
dilation_size_initialize: 5 # dilation size after the init.
initialize_tf_grid_size: 0.4 # This is not used if number of tf is more than 3.
use_initializer_at_start: true # Use initializer when the node starts.

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Expand Up @@ -29,10 +29,10 @@ inpainting:
method: "telea" # telea or ns

# Apply inpainting using opencv
elevation_semantic:
mask_elevation_semantics:
enable: True
fill_nan: False
is_height_layer: True
layer_name: "elevation_with_semantic"
layer_name: "elevation_with_semantics"
extra_params:
method: "telea"
semantic_reference_layer_name: "visual_traversability"
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#### Subscribers ########
subscribers:
# RGB cameras
# alphasense_front_rgb:
# fusion: ['image_color']
# topic_name_camera: /alphasense_driver_ros/cam4/debayered
# topic_name_camera_info: /alphasense_driver_ros/cam4/camera_info
# channels: ["rgb_image"]
# data_type: image

# alphasense_left_rgb:
# fusion: ['image_color']
# topic_name_camera: /alphasense_driver_ros/cam3/debayered
# topic_name_camera_info: /alphasense_driver_ros/cam3/camera_info
# channels: ["rgb_image"]
# data_type: image

# alphasense_right_rgb:
# fusion: ['image_color']
# topic_name_camera: /alphasense_driver_ros/cam5/debayered
# topic_name_camera_info: /alphasense_driver_ros/cam5/camera_info
# channels: ["rgb_image"]
# data_type: image

# wide_angle_camera_rear:
# fusion: ['image_color']
# topic_name_camera: /wide_angle_camera_rear/image_color_rect/compressed
# topic_name_camera_info: /wide_angle_camera_rear/camera_info
# channels: ["rgb_image"]
# data_type: image

# wide_angle_camera_front:
# fusion: ['image_color']
# topic_name_camera: /wide_angle_camera_front/image_color_rect/compressed
# topic_name_camera_info: /wide_angle_camera_front/camera_info
# channels: ["rgb_image"]
# data_type: image

# Traversability
wvn_front_traversability:
fusion: ['image_exponential']
topic_name_camera: '/wild_visual_navigation_node/front/traversability'
topic_name_camera_info: '/wild_visual_navigation_node/front/camera_info'
channels: ["visual_traversability"]
data_type: image

wvn_left_traversability:
fusion: ['image_exponential']
topic_name_camera: '/wild_visual_navigation_node/left/traversability'
topic_name_camera_info: '/wild_visual_navigation_node/left/camera_info'
channels: ["visual_traversability"]
data_type: image

wvn_right_traversability:
fusion: ['image_exponential']
topic_name_camera: '/wild_visual_navigation_node/right/traversability'
topic_name_camera_info: '/wild_visual_navigation_node/right/camera_info'
channels: ["visual_traversability"]
data_type: image

# Confidence
# wvn_front_confidence:
# fusion: ['image_exponential']
# topic_name_camera: '/wild_visual_navigation_node/front/confidence'
# topic_name_camera_info: '/wild_visual_navigation_node/front/camera_info'
# channels: ["visual_confidence"]
# data_type: image

# wvn_left_confidence:
# fusion: ['image_exponential']
# topic_name_camera: '/wild_visual_navigation_node/left/confidence'
# topic_name_camera_info: '/wild_visual_navigation_node/left/camera_info'
# channels: ["visual_confidence"]
# data_type: image

# wvn_right_confidence:
# fusion: ['image_exponential']
# topic_name_camera: '/wild_visual_navigation_node/right/confidence_raw'
# topic_name_camera_info: '/wild_visual_navigation_node/right/camera_info'
# channels: ["visual_confidence"]
# data_type: image

# For Anymal C
# front_depth:
# channels: []
# fusion: []
# topic_name: /depth_camera_front/point_cloud_self_filtered
# data_type: pointcloud
#
# rear_depth:
# channels: []
# fusion: []
# topic_name: /depth_camera_rear/point_cloud_self_filtered
# data_type: pointcloud

# For Anymal D
front_depth:
channels: [ ]
fusion: [ ]
front_upper_depth:
topic_name: /depth_camera_front_upper/point_cloud_self_filtered
data_type: pointcloud

rear_depth:
channels: [ ]
fusion: [ ]
front_lower_depth:
topic_name: /depth_camera_front_lower/point_cloud_self_filtered
data_type: pointcloud

rear_upper_depth:
topic_name: /depth_camera_rear_upper/point_cloud_self_filtered
data_type: pointcloud

rear_lower_depth:
topic_name: /depth_camera_rear_lower/point_cloud_self_filtered
data_type: pointcloud

left_depth:
channels: []
fusion: []
topic_name: /depth_camera_left/point_cloud_self_filtered
data_type: pointcloud

right_depth:
channels: []
fusion: []
topic_name: /depth_camera_right/point_cloud_self_filtered
data_type: pointcloud


# velodyne:
# channels: []
# fusion: []
# topic_name: /point_cloud_filter/lidar/point_cloud_filtered
# data_type: pointcloud
velodyne:
topic_name: /point_cloud_filter/lidar/point_cloud_filtered
data_type: pointcloud

# Semantics
front_wide_angle:
topic_name: /wide_angle_camera_front/image_color_rect/compressed
camera_info_topic_name: /wide_angle_camera_front/camera_info
data_type: image

rear_wide_angle:
topic_name: /wide_angle_camera_rear/image_color_rect/compressed
camera_info_topic_name: /wide_angle_camera_rear/camera_info
data_type: image

# Cerberus
front_bpearl:
channels: []
fusion: []
topic_name: /robot_self_filter/bpearl_front/point_cloud
data_type: pointcloud

rear_bpearl:
channels: []
fusion: []
topic_name: /robot_self_filter/bpearl_rear/point_cloud
data_type: pointcloud

# Traversability
# channels: ["visual_traversability"]
sem_wvn_front_traversability:
topic_name: '/wild_visual_navigation_node/front/traversability'
camera_info_topic_name: '/wild_visual_navigation_node/front/camera_info'
channels: ['visual_traversability']
data_type: image

# Cameras for D
# front_depth_d:
# channels: []
# fusion: []
# topic_name: /depth_camera_front_upper/point_cloud_self_filtered
# data_type: pointcloud
sem_wvn_left_traversability:
topic_name: '/wild_visual_navigation_node/left/traversability'
camera_info_topic_name: '/wild_visual_navigation_node/left/camera_info'
channels: ['visual_traversability']
data_type: image

sem_wvn_right_traversability:
topic_name: '/wild_visual_navigation_node/right/traversability'
camera_info_topic_name: '/wild_visual_navigation_node/right/camera_info'
channels: ['visual_traversability']
data_type: image

# rear_depth_d:
# channels: []
# fusion: []
# topic_name: /depth_camera_rear_upper/point_cloud_self_filtered
# data_type: pointcloud
# sem_wvn_front_confidence:
# topic_name: '/wild_visual_navigation_node/front/confidence'
# camera_info_topic_name: '/wild_visual_navigation_node/front/camera_info'
# channels: ['visual_traversability']
# data_type: image
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