minor fixes

Author: rlnav

monoforce/scripts/train.sh

@@ -2,9 +2,9 @@
 
 MODEL=lss  # lss, lidarbev, bevfusion
 ROBOT=marv
-DEBUG=True
+DEBUG=False
 VIS=False
-BSZ=4  # 32, 32, 8
+BSZ=32  # 32, 32, 8
 WEIGHTS=$HOME/workspaces/traversability_ws/src/monoforce/monoforce/config/weights/${MODEL}/val.pth
 
 source $HOME/workspaces/traversability_ws/devel/setup.bash

monoforce/src/monoforce/utils.py

@@ -178,8 +178,8 @@ def compile_data(val_fraction=0.1, small_data=False, vis=False, Data=None, dphys
         # concatenate datasets
         train_ds = ConcatDataset(train_datasets)
         val_ds = ConcatDataset(val_datasets)
-        ids = [79]
-        # ids = np.random.choice(len(train_ds), 4, replace=False).tolist()
+        # ids = [79]
+        ids = np.random.choice(len(train_ds), 4, replace=False).tolist()
         train_ds = Subset(train_ds, ids)
         val_ds = Subset(val_ds, ids)
     print('Concatenated datasets length: train %i, valid: %i' % (len(train_ds), len(val_ds)))