Offline run

[screechingviolet]

• When run with both IPs set to 0, it runs the vision pipeline in 'dummy mode' on the images saved to disk
• Still need to separate front right and front left cameras for easier viewing

[Copilot]

Pull request overview

This PR introduces an "offline run" feature that enables running the vision pipeline in dummy mode when both robot IPs are set to "0", processing saved images from disk instead of connecting to actual Spot robots.

Key changes:

• Added global dummy mode flag with getter/setter functions
• Modified connection logic to create dummy connections when enabled
• Implemented image loading from disk in dummy mode instead of live camera feeds

Reviewed changes

Copilot reviewed 5 out of 105 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
tests/integ-test/integ-test.cpp	Implements dummy mode detection logic and conditional connection handling for offline image processing
src/spot-observer.cpp	Adds dummy mode state variables and modifies connection logic to support dummy connections with ID 0
src/spot-connection.cpp	Implements disk-based image loading in dummy mode, reading saved RGB and depth images instead of streaming from cameras
include/spot-observer.h	Exposes dummy mode state variables and getter/setter functions in the public API
CMakeLists.txt	Updates dependency versions for OpenCV (4110→4120), ONNX Runtime (1.22.0→1.23.0), and Spot SDK path

Comments suppressed due to low confidence (13)

tests/integ-test/integ-test.cpp:1

• [nitpick] The else clause should use braces for consistency and readability, especially since the if clause uses braces.
  tests/integ-test/integ-test.cpp:1
• The commented code '// rm hand for vision? // FRONTRIGHT | FRONTLEFT' should be removed or clarified. These ambiguous comments make the intent unclear.
  tests/integ-test/integ-test.cpp:1
• The commented-out variable 'run_on_dummy_images' should be removed if it's no longer needed.
  tests/integ-test/integ-test.cpp:1
• This large block of commented-out code should be removed. If this logic might be needed later, consider using version control instead of leaving dead code in the codebase.
  tests/integ-test/integ-test.cpp:1
• This commented-out image-saving logic should either be removed or implemented. Dead code reduces readability and maintainability.
  src/spot-observer.cpp:1
• These TODO comments with 'AATASK' prefix should either be addressed or converted to proper TODO/FIXME comments with context about what needs to be done.
  src/spot-observer.cpp:1
• This large block of commented-out code should be removed. The logic is already handled by the earlier return statement at line 107.
  src/spot-observer.cpp:1
• Remove trailing whitespace at the end of the line.
  src/spot-observer.cpp:1
• This TODO comment with 'AATASK' prefix should either be addressed or converted to a proper TODO/FIXME comment with clear context.
  src/spot-observer.cpp:1
• The log message at line 487 is a duplicate of line 479. Remove the redundant log statement.
  src/spot-observer.cpp:1
• This TODO comment with 'AATASK' prefix should either be addressed or converted to a proper TODO/FIXME comment with clear requirements.
  src/spot-connection.cpp:1
• Remove these commented-out lines. The logic is already implemented at lines 292-293, and the incomplete comment '// cv::Mat' adds no value.
  src/spot-connection.cpp:1
• This TODO comment with 'AATASK' prefix should either be addressed or converted to a proper TODO/FIXME comment. The code following this comment appears to already implement the disk image reading functionality.

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[fmz]

Use a more descriptive name (and make it follow the naming convention of external-facing APIs)

[fmz]

These are internal state variables. They shouldn't go in an externally-facing file.

[fmz]

This is a useful bit of functionality. We should uncomment it and put it behind a flag.

[fmz]

This will break if the code isn't launched from the right place

[fmz]

Use cvtColor(img_rgba, cv2.COLOR_BGR2BGRA) instead of manually appending an alpha channel

[fmz]

Revert