From ebad2744e90abde036f3fd4baec9b4d3d33cf340 Mon Sep 17 00:00:00 2001
From: RobinSchmid7 <schmirob@student.ethz.ch>
Date: Tue, 22 Aug 2023 16:49:17 +0200
Subject: [PATCH] Add debug param file, change default.yaml

---
 .../wild_visual_navigation/default.yaml       | 33 +++++++++++++++----
 .../launch/debug/param.launch                 |  4 +++
 2 files changed, 31 insertions(+), 6 deletions(-)

diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
index f73d83b4..f2c807f9 100644
--- a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
+++ b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
@@ -3,6 +3,21 @@ robot_state_topic: "/wild_visual_navigation_node/robot_state"
 desired_twist_topic: "/motion_reference/command_twist"
 # desired_twist_topic: "/log/state/desiredRobotTwist"
 
+camera_topics:
+  front:
+    image_topic: "/wide_angle_camera_front/img_out"
+    info_topic: "/wide_angle_camera_front/camera_info"
+    use_for_training: true
+  # left:
+  #   image_topic: "/alphasense_driver_ros/cam3/debayered"
+  #   info_topic: "/alphasense_driver_ros/cam3/camera_info"
+  #   use_for_training: false
+  # right:
+  #   image_topic: "/alphasense_driver_ros/cam5/debayered"
+  #   info_topic: "/alphasense_driver_ros/cam5/camera_info"
+  #   use_for_training: false
+
+
 # Relevant frames
 fixed_frame: odom
 base_frame: base
@@ -20,16 +35,19 @@ robot_max_velocity: 0.8
 traversability_radius: 5.0 # meters
 image_graph_dist_thr: 0.2 # meters
 proprio_graph_dist_thr: 0.1 # meters
-network_input_image_height: 224 # 448
-network_input_image_width: 224 # 448
-segmentation_type: "random"
+network_input_image_height: 448 # 448
+network_input_image_width: 448 # 448
+segmentation_type: "slic"
 feature_type: "dino"
 dino_patch_size: 16 # DINO only
-confidence_std_factor: 4.0
+confidence_std_factor: 1.0
 scale_traversability: True
-scale_traversability_max_fpr: 0.25
+scale_traversability_max_fpr: 0.15
 min_samples_for_training: 5
 
+# Map params
+map_resolution: 0.1 # meters
+map_size: 128 # centimeters
 
 # Optical flow params
 optical_flow_estimator_type: "none"
@@ -54,10 +72,13 @@ colormap: "RdYlBu"
 print_image_callback_time: false
 print_proprio_callback_time: false
 log_time: false
-log_confidence: false
+log_memory: false
+log_confidence: true
 verbose: false
 debug_supervision_node_index_from_last: 10
 
+use_debug_for_desired: true
 extraction_store_folder:  /home/rschmid/RosBags/output/6
 exp: "nan"
 use_binary_only: true
+supervision_projection_mode: "map"
\ No newline at end of file
diff --git a/wild_visual_navigation_ros/launch/debug/param.launch b/wild_visual_navigation_ros/launch/debug/param.launch
index e69de29b..547c877f 100644
--- a/wild_visual_navigation_ros/launch/debug/param.launch
+++ b/wild_visual_navigation_ros/launch/debug/param.launch
@@ -0,0 +1,4 @@
+<launch>
+  <arg name="params_file"       default="$(find wild_visual_navigation_ros)/config/wild_visual_navigation/default.yaml"/>
+  <rosparam command="load" file="$(arg params_file)" ns="wild_visual_navigation_node"/>
+</launch>