Comment elevation semantic layer

leggedrobotics · Aug 3, 2023 · 392cf4f · 392cf4f
1 parent bb4bb8a
commit 392cf4f
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Showing 3 changed files with 10 additions and 8 deletions.
diff --git a/.gitignore b/.gitignore
@@ -4,6 +4,7 @@ wild_visual_navigation/notebooks*
 results/*
 assets/dino/*
 assets/stego/cocostuff27_vit_base_5.ckpt
+assets/weights/*
 .pytest_cache/**
 .vscode/**
 notebooks/**

diff --git a/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_parameters.yaml b/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_parameters.yaml
@@ -75,7 +75,8 @@ publishers:
     fps: 5.0
 
   semantic_map_raw:
-    layers: ['elevation', 'traversability', 'visual_traversability', 'elevation_with_semantic']
+#    layers: ['elevation', 'traversability', 'visual_traversability', 'elevation_semantic']
+    layers: ['elevation', 'traversability', 'visual_traversability']
     basic_layers: ['elevation', 'traversability']
     fps: 5.0
   # elevation_map_recordable:

diff --git a/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_plugin_config.yaml b/wild_visual_navigation_ros/config/elevation_mapping_cupy/anymal_plugin_config.yaml
@@ -40,13 +40,13 @@ inpainting:
 #     input_layer_name: "visual_traversability"
 
 # Apply inpainting using opencv
-elevation_semantic:
-  enable: True
-  fill_nan: False
-  is_height_layer: True
-  layer_name: "elevation_with_semantic"
-  extra_params:
-    method: "telea"                           # telea or ns
+#elevation_semantic:
+#  enable: True
+#  fill_nan: False
+#  is_height_layer: True
+#  layer_name: "elevation_with_semantic"
+#  extra_params:
+#    method: "telea"                           # telea or ns
 # Apply smoothing for inpainted layer
 
 ## Apply inpainting using opencv