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Check if the debug image has not been deleted before publishing #315

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Check if the debug image has not been deleted before publishing #315

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be876c4
Check if the debug image has not been deleted before publishing
plibera Dec 21, 2024
0b767e6
Fix formatting
plibera Dec 22, 2024
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8 changes: 8 additions & 0 deletions wild_visual_navigation/traversability_estimator/nodes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -163,6 +163,14 @@ def clear_debug_data(self):
print(e)
pass # Image already removed

def has_debug_data(self):
return (
hasattr(self, "_image")
and self._image is not None
and hasattr(self, "_supervision_mask")
and self._supervision_mask is not None
)

def change_device(self, device):
"""Changes the device of all the class members

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5 changes: 4 additions & 1 deletion wild_visual_navigation_ros/scripts/wvn_learning_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -831,7 +831,7 @@ def visualize_image_overlay(self):
vis_node = self._traversability_estimator.get_mission_node_for_visualization()

# Publish reprojections of last node in graph
if vis_node is not None:
if vis_node is not None and vis_node.has_debug_data():
cam = vis_node.camera_name
torch_image = vis_node._image
torch_mask = vis_node._supervision_mask
Expand All @@ -841,6 +841,9 @@ def visualize_image_overlay(self):
image_out = self._visualizer.plot_detectron_classification(torch_image, torch_mask, cmap="Blues")
self._camera_handler[cam]["debug"]["image_overlay"].publish(rc.numpy_to_ros_image(image_out))

elif vis_node is not None:
rospy.logwarn(f"[{self._node_name}] No visualization data available for node")

def pause_learning_callback(self, req):
"""Start and stop the network training"""
prev_state = self._traversability_estimator.pause_learning
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