Changed 'usb_cam' to 'camera'

LASR-at-Home · May 17, 2024 · d1f4452 · d1f4452
1 parent 7f3a76f
commit d1f4452
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/common/vision/lasr_vision_feature_extraction/nodes/service b/common/vision/lasr_vision_feature_extraction/nodes/service
@@ -1,5 +1,5 @@
 from lasr_vision_msgs.srv import TorchFaceFeatureDetectionDescription, TorchFaceFeatureDetectionDescriptionRequest, TorchFaceFeatureDetectionDescriptionResponse
-from lasr_vision_feature_extraction.categories_and_attributes import CategoriesAndAttributes, CelebAMaskHQCategoriesAndAttributes
+from lasr_vision_feature_extraction.categories_and_attributes import CategoriesAndAttributes, CelebAMaskHQCategoriesAndAttributes, DeepFashion2GeneralizedCategoriesAndAttributes
 
 from cv2_img import msg_to_cv2_img
 from numpy2message import message2numpy
@@ -35,7 +35,7 @@ if __name__ == '__main__':
     head_model = lasr_vision_feature_extraction.load_face_classifier_model()
     head_predictor = lasr_vision_feature_extraction.Predictor(head_model, torch.device('cpu'), CelebAMaskHQCategoriesAndAttributes)
     cloth_model = lasr_vision_feature_extraction.load_cloth_classidifer_model()
-    cloth_predictor = lasr_vision_feature_extraction.Predictor(cloth_model, torch.device('cpu'), CelebAMaskHQCategoriesAndAttributes)
+    cloth_predictor = lasr_vision_feature_extraction.Predictor(cloth_model, torch.device('cpu'), DeepFashion2GeneralizedCategoriesAndAttributes)
     rospy.init_node('torch_service')
     rospy.Service('/torch/detect/face_features', TorchFaceFeatureDetectionDescription, detect)
     rospy.loginfo('Torch service started')

diff --git a/common/vision/lasr_vision_feature_extraction/src/lasr_vision_feature_extraction/__init__.py b/common/vision/lasr_vision_feature_extraction/src/lasr_vision_feature_extraction/__init__.py
@@ -180,7 +180,7 @@ class SegmentPredictor(nn.Module):
     def __init__(self, num_masks, num_labels, in_channels=3, sigmoid=True):
         super(SegmentPredictor, self).__init__()
         self.sigmoid = sigmoid
-        self.resnet = models.resnet18(pretrained=True)
+        self.resnet = models.resnet18(pretrained=False)
 
         # Adapt ResNet to handle different input channel sizes
         if in_channels != 3:
@@ -476,8 +476,8 @@ def predict_frame(
 
     # results from two dictionaries are currently merged but might got separated again in the future if needed.
     result = {
-        'attributes': rst_person['rst_person'] + rst_cloth['rst_person'],
-        'description': rst_person['rst_person'] + rst_cloth['rst_person'],
+        'attributes': rst_person['attributes'] + rst_person['description'],
+        'description': rst_cloth['attributes'] + rst_cloth['description'],
     }
 
     result = json.dumps(result, indent=4)

diff --git a/skills/src/lasr_skills/vision/get_image.py b/skills/src/lasr_skills/vision/get_image.py
@@ -18,7 +18,7 @@ def __init__(self, topic: str = None):
             self.topic = (
                 "/xtion/rgb/image_raw"
                 if "tiago" in os.environ["ROS_MASTER_URI"]
-                else "/usb_cam/image_raw"
+                else "/camera/image_raw"
             )
         else:
             self.topic = topic