From d877e6b3f11c7556c67b2f209c8e3981d7c689fb Mon Sep 17 00:00:00 2001
From: Aaron Ray <aaronray@mit.edu>
Date: Fri, 17 Jan 2025 20:22:09 +0000
Subject: [PATCH] Place descriptor ros node works

---
 extra/ouroboros_ros/CMakeLists.txt                |  5 +++++
 .../ouroboros_ros/nodes/place_matching_example.py | 15 +++++++++------
 2 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/extra/ouroboros_ros/CMakeLists.txt b/extra/ouroboros_ros/CMakeLists.txt
index dfffafa..f436860 100644
--- a/extra/ouroboros_ros/CMakeLists.txt
+++ b/extra/ouroboros_ros/CMakeLists.txt
@@ -3,6 +3,11 @@ project(ouroboros_ros)
 
 find_package(catkin REQUIRED COMPONENTS
     rospy
+    dynamic_reconfigure
+)
+
+generate_dynamic_reconfigure_options(
+  cfg/PlaceDescriptorDebugging.cfg
 )
 
 catkin_package(
diff --git a/extra/ouroboros_ros/nodes/place_matching_example.py b/extra/ouroboros_ros/nodes/place_matching_example.py
index 2bade25..65321ea 100755
--- a/extra/ouroboros_ros/nodes/place_matching_example.py
+++ b/extra/ouroboros_ros/nodes/place_matching_example.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import rospy
 
 from dynamic_reconfigure.server import Server
@@ -7,7 +8,7 @@
 import numpy as np
 
 from ouroboros import VlcDb, SparkImage
-from ouroboros_salad import get_salad_model
+from ouroboros_salad.salad_model import get_salad_model
 from ouroboros_ros.cfg import PlaceDescriptorDebuggingConfig
 
 
@@ -62,17 +63,19 @@ def image_cb(self, msg):
         embedding = self.embedding_model(image)
 
         image_matches, similarities = self.vlc_db.query_embeddings_max_time(
-            embedding, 1, msg.header.stamp.to_nsec() - self.lc_lockout
+            embedding, 1, msg.header.stamp.to_nsec() - self.lc_lockout * 1e9
         )
 
         self.vlc_db.update_embedding(uid, embedding)
 
-        if similarities[0] < self.place_match_threshold:
-            image_match = None
+        if len(similarities) == 0 or similarities[0] < self.place_match_threshold:
+            right = None
         else:
-            image_match = image_matches[0]
+            right = image_matches[0].image.rgb
 
-        display_image_pair(current_image, image_match)
+        left = current_image.image.rgb
+
+        display_image_pair(left, right)
 
 
 if __name__ == "__main__":