fix tensors on different devices

ut-amrl · May 29, 2024 · 41892f7 · 41892f7
1 parent 1898366
commit 41892f7
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/config/navigation_spot_icl.lua b/config/navigation_spot_icl.lua
@@ -4,7 +4,7 @@ end
 
 NavigationParameters = {
   laser_topic = "velodyne_2dscan_highbeams";
-  odom_topic = "/odometry/filtered";
+  odom_topic = "/odom";
   localization_topic = "localization";
   image_topic = "/bev/single/compressed";
   init_topic = "initialpose";

diff --git a/src/navigation/terrain_evaluator2.h b/src/navigation/terrain_evaluator2.h
@@ -81,13 +81,13 @@ class CustomTerrainEvaluator : public TerrainEvaluator {
 
 
     std::vector<torch::jit::IValue> inputs;
-    inputs.push_back(context_tensor_);
-    inputs.push_back(img_tensor);
+    inputs.push_back(context_tensor_.to(torch_device_));
+    inputs.push_back(img_tensor.to(torch_device_));
 
     torch::NoGradGuard no_grad;
 
     // Run the model with the inputs
-    auto output = cost_model_.forward(inputs).toTensor();
+    auto output = cost_model_.forward(inputs).toTensor().to(torch::kCPU);
     // auto output = cost_model_.run_method("forward_w_encoded_patches", inputs).toTensor();
 
     // apply sigmoid to the output