980 underwater vision enhancement #1033
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Hello, it's your friendly InvestiGator bot here! The docs preview for this PR is available at https://uf-mil.github.io/pr-docs/1033. Last updated at:
► e3de50c8ee414d778d1ef50c90c03c2ab8e966ec
► 2023-04-03 19:11 EDTHave a great day! Go gators! 🐊 |
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Closing this since this is now being merged in through vision_stack! |
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Description
I created the enhance_vision.py node that utilizes a machine learning model to take image data from the bottom camera (/camera/down/image_rect_color) and enhances it utilizing parameters from this research paper: https://github.com/xueleichen/PyTorch-Underwater-Image-Enhancement
Screenshot or Video
Related Issues
Currently the neural network is programmed to run on the CPU which decreases performance. We will need to change the line that defines which device to run the neural network in the future.
- Closes #XXX
Testing
It is best tested when you have a bag file. run these commands:
$ roslaunch subjugator_launch gazebo.launch
on a seperate terminal window:
$ subviz
then:
$ cd catkin_ws/src/mil/Subjugator/perception/subjugator_perception/nodes
$ python3 enhance_vision.py
After that, in the subviz window, open an image and tap into the topic:
/enhance_vision/enhance_cam_topic
*If you have a bag file running, and you also are viewing the topic: /camera/down/image_rect_color, you should see that the enhance vision topic updating with a delay but with a processed version of the original image.
About This PR