From 41892f7d49817347055388e877af70515ca08d7d Mon Sep 17 00:00:00 2001 From: Luisa Mao Date: Wed, 29 May 2024 13:51:41 -0500 Subject: [PATCH] fix tensors on different devices --- config/navigation_spot_icl.lua | 2 +- src/navigation/terrain_evaluator2.h | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/config/navigation_spot_icl.lua b/config/navigation_spot_icl.lua index 8651e31..8ccda7f 100644 --- 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 index fea0313..f6b020c 100644 --- a/src/navigation/terrain_evaluator2.h +++ b/src/navigation/terrain_evaluator2.h @@ -81,13 +81,13 @@ class CustomTerrainEvaluator : public TerrainEvaluator { std::vector 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