using by default wildscenes labels for semantic loss

Author: rlnav

monoforce/config/lss_cfg.yaml

@@ -45,8 +45,16 @@ img_std:
 - 0.224
 - 0.225
 
-# Traversable semantic classes Segment Anything from COCO labels
+## Traversable semantic classes Segment Anything from COCO labels
+#soft_classes:
+#- 'grass'
+#- 'snow'
+#- 'flower'
+
+# Traversable semantic classes Segment Anything from WildScenes labels
 soft_classes:
+- 'tree-foliage'
+- 'bush'
 - 'grass'
-- 'snow'
-- 'flower'
+- 'sky'
+- 'unlabelled'

monoforce/src/monoforce/datasets/rough.py

@@ -13,7 +13,7 @@
 from ..utils import position, read_yaml
 from ..cloudproc import filter_grid
 from ..utils import normalize, load_calib
-from .wildscenes.utils2d import METAINFO as WILDSCENES_METAINFO
+from .wildscenes.utils3d import METAINFO as WILDSCENES_METAINFO
 from PIL import Image
 from tqdm import tqdm
 import open3d as o3d
@@ -80,7 +80,7 @@ def __init__(self, path,
         self.is_train = is_train
 
         if lss_cfg is None:
-            lss_cfg = read_yaml(os.path.join(monoforce_dir, 'config', 'lss_cfg_wildscenes.yaml'))
+            lss_cfg = read_yaml(os.path.join(monoforce_dir, 'config', 'lss_cfg.yaml'))
         self.lss_cfg = lss_cfg
         self.grid_res = lss_cfg['grid_conf']['xbound'][2]
 

monoforce/src/monoforce/datasets/wildscenes/utils2d.py

@@ -62,24 +62,4 @@
         17,
         18
     ]
-}
-
-
-def rgb_to_hex(r, g, b):
-    return '#{:02x}{:02x}{:02x}'.format(int(r), int(g), int(b))
-
-
-# # METAINFO['cidx'] = list(range(len(METAINFO['palette'])))
-# METAINFO['hex'] = [rgb_to_hex(x[0], x[1], x[2]) for x in METAINFO['palette']]
-# METAINFO['hash'] = [str(x[0]) + str(x[1]) + str(x[2]) for x in METAINFO['palette']]
-# hex_2_class = {h: c for h, c in zip(METAINFO['hex'], METAINFO['classes'])}
-# hex_2_cidx = {h: cidx for h, cidx in zip(METAINFO['hex'], METAINFO['cidx'])}
-# class_2_hex = {c: h for h, c in hex_2_class.items()}
-# rgb_2_class = {p: c for p, c in zip(METAINFO['palette'], METAINFO['classes'])}
-# cidx_2_rgb = {cidx: p for cidx, p in zip(METAINFO['cidx'], METAINFO['palette'])}
-# cidx_2_class = {cidx: p for cidx, p in zip(METAINFO['cidx'], METAINFO['classes'])}
-# class_2_cidx = {c: cidx for c, cidx in zip(METAINFO['classes'], METAINFO['cidx'])}
-#
-# hash_2_class = {h: c for h, c in zip(METAINFO['hash'], METAINFO['classes'])}
-# hash_2_cidx = {h: c for h, c in zip(METAINFO['hash'], METAINFO['cidx'])}
-# class_2_rgb = {c: p for c, p in zip(METAINFO['classes'], METAINFO['palette'])}
+}

monoforce/src/monoforce/datasets/wildscenes/utils3d.py

@@ -53,23 +53,4 @@
         13,
         14
     ]
-}
-
-def rgb_to_hex(r, g, b):
-    return '#{:02x}{:02x}{:02x}'.format(int(r), int(g), int(b))
-
-
-# # METAINFO['cidx'] = list(range(len(METAINFO['palette'])))
-# METAINFO['hex'] = [rgb_to_hex(x[0], x[1], x[2]) for x in METAINFO['palette']]
-# METAINFO['hash'] = [str(x[0]) + str(x[1]) + str(x[2]) for x in METAINFO['palette']]
-# hex_2_class = {h: c for h, c in zip(METAINFO['hex'], METAINFO['classes'])}
-# hex_2_cidx = {h: cidx for h, cidx in zip(METAINFO['hex'], METAINFO['cidx'])}
-# class_2_hex = {c: h for h, c in hex_2_class.items()}
-# rgb_2_class = {p: c for p, c in zip(METAINFO['palette'], METAINFO['classes'])}
-# cidx_2_rgb = {cidx: p for cidx, p in zip(METAINFO['cidx'], METAINFO['palette'])}
-# cidx_2_class = {cidx: p for cidx, p in zip(METAINFO['cidx'], METAINFO['classes'])}
-# class_2_cidx = {c: cidx for c, cidx in zip(METAINFO['classes'], METAINFO['cidx'])}
-#
-# hash_2_class = {h: c for h, c in zip(METAINFO['hash'], METAINFO['classes'])}
-# hash_2_cidx = {h: c for h, c in zip(METAINFO['hash'], METAINFO['cidx'])}
-# class_2_rgb = {c: p for c, p in zip(METAINFO['classes'], METAINFO['palette'])}
+}

monoforce/src/monoforce/models/traj_predictor/dphys_config.py

@@ -132,7 +132,7 @@ def __init__(self, robot='marv', grid_res=0.2):
         # height map parameters
         self.grid_res = grid_res  # grid resolution of the heightmap, [m]
         self.r_min = 1.0  # minimum distance of the terrain from the robot, [m]
-        self.d_max = 12.8  # half-size of the terrain, heightmap range: [-d_max, d_max]
+        self.d_max = 6.4  # half-size of the terrain, heightmap range: [-d_max, d_max]
         self.h_max = 1.0  # maximum height of the terrain, heightmap range: [-h_max, h_max]
         x_grid = torch.arange(-self.d_max, self.d_max, self.grid_res)
         y_grid = torch.arange(-self.d_max, self.d_max, self.grid_res)