Merge master

Author: ShigemichiMatsuzaki

launch/pytorch_enet_ros.launch

@@ -4,13 +4,12 @@
   <node pkg="pytorch_enet_ros" type="pytorch_enet_ros_node" name="pytorch_enet_ros_node" output="screen">
     <!--
     <remap from="~image" to="/kinect2/qhd/image_color_rect" />
-    -->
-    <!--
-    <remap from="~image" to="/camera/rgb/image_rect_color" />
+    <param name="model_file" value="$(find pytorch_enet_ros)/models/ENet_camvid.pt" />
+    <param name="colormap" value="$(find pytorch_enet_ros)/images/camvid12.png" />
     -->
     <remap from="~image" to="/camera/rgb/image_rect_color" />
-    <param name="model_file" value="$(find pytorch_enet_ros)/models/ENet_c2-501.pt" />
+    <param name="model_file" value="$(find pytorch_enet_ros)/models/ENet_scenes_train_c2-501_2_200.pt" />
     <param name="colormap" value="$(find pytorch_enet_ros)/images/greenhouse4.png" />
-    <param name="model_name" value="camvid" />
+    <param name="model_name" value="greenhouse" />
   </node>
 </launch>

src/pytorch_cpp_wrapper.cpp

@@ -29,6 +29,10 @@ PyTorchCppWrapper::import_module(const std::string filename)
   try {
     // Deserialize the ScriptModule from a file using torch::jit::load().
     module_ = torch::jit::load(filename);
+    // Set evaluation mode
+    module_->eval();
+    std::cout << module_->is_training() << std::endl;
+
     std::cout << "Import succeeded" << std::endl;
     return true;
   }

src/pytorch_enet_ros.cpp

@@ -93,9 +93,9 @@ PyTorchENetROS::inference(cv::Mat & input_img)
   int height_orig = input_img.size().height;
   int width_orig  = input_img.size().width;
 
-  cv::Size s(480, 264);
+//  cv::Size s(320, 240);
   // Resize the input image
-  cv::resize(input_img, input_img, s);
+//  cv::resize(input_img, input_img, s);
 
 //  ROS_INFO("[PyTorchENetROS inference] Start");
   at::Tensor input_tensor;
@@ -120,7 +120,7 @@ PyTorchENetROS::inference(cv::Mat & input_img)
   // Set the size
   cv::Size s_orig(width_orig, height_orig);
   // Resize the input image back to the original size
-  cv::resize(label, label, s_orig, cv::INTER_NEAREST);
+//  cv::resize(label, label, s_orig, cv::INTER_NEAREST);
 
   cv::Mat color_label;
 //  cv::applyColorMap(mat, color_label, cv::COLORMAP_JET);