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fix a little bug

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This commit is contained in:
Lu Junjie 2024-10-25 15:38:05 +08:00
parent 90f00a16ad
commit 079d8cf23a
1 changed files with 6 additions and 4 deletions
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10
run/test_yopo_ros.py
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@ -166,12 +166,12 @@ class YopoNet:
if self.verbose: if self.verbose:
self.time_interpolation = self.time_interpolation + (time.time() - start) self.time_interpolation = self.time_interpolation + (time.time() - start)
self.count_interpolation = self.count_interpolation + 1 self.count_interpolation = self.count_interpolation + 1
print("interpolation time:", self.time_interpolation / self.count_interpolation) print("Time Consuming: interpolation:", self.time_interpolation / self.count_interpolation)
# cv2.imshow("1", depth_[0][0]) # cv2.imshow("1", depth_[0][0])
# cv2.waitKey(1) # cv2.waitKey(1)
self.new_depth = True
self.depth = depth_.astype(np.float32) self.depth = depth_.astype(np.float32)
self.new_depth = True
def callback_set_goal(self, data): def callback_set_goal(self, data):
self.goal = np.asarray([data.pose.position.x, data.pose.position.y, 2]) self.goal = np.asarray([data.pose.position.x, data.pose.position.y, 2])
@ -200,9 +200,11 @@ class YopoNet:
endstate_pred = endstate_pred.squeeze() endstate_pred = endstate_pred.squeeze()
time3 = time.time() time3 = time.time()
else: else:
time1 = time.time()
endstate_pred, score_pred = self.policy.predict(depth, obs_norm_input, return_all_preds=self.visualize) endstate_pred, score_pred = self.policy.predict(depth, obs_norm_input, return_all_preds=self.visualize)
endstate_pred = endstate_pred.cpu().numpy().squeeze() endstate_pred = endstate_pred.cpu().numpy().squeeze()
score_pred = score_pred.cpu().numpy() score_pred = score_pred.cpu().numpy()
time2 = time3 = time.time()
# Transform the prediction(body frame) to the world frame with the attitude in inference # Transform the prediction(body frame) to the world frame with the attitude in inference
# Replacing PyTorch calculations on CUDA with NumPy calculations on the CPU (speed increased by 10x) # Replacing PyTorch calculations on CUDA with NumPy calculations on the CPU (speed increased by 10x)
@ -230,8 +232,8 @@ class YopoNet:
self.time_forward = self.time_forward + (time2 - time1) self.time_forward = self.time_forward + (time2 - time1)
self.time_process = self.time_process + (time3 - time2) self.time_process = self.time_process + (time3 - time2)
self.count = self.count + 1 self.count = self.count + 1
print("time forward:", self.time_forward / self.count, "process:", self.time_process / self.count, print("Time Consuming: prepare:", self.time_prepare / self.count, "; forward:", self.time_forward / self.count,
"prepare:", self.time_prepare / self.count) "; process:", self.time_process / self.count)
# publish # publish
if not self.visualize: if not self.visualize: