Visual Pointing can hang if after turning an item is no longer visible. For example if we see the droppers in occam4. Then point, the nose of the sub can obstruct further hits on droppers. This results in a state where we are not moving and we will never get enough hits to terminate search. We either need a short timeout, or a better technique. For example we could use the Z-Plane localizer and use its pose as the new search target instead.
This bug was produced by using a magnetometer offset of 17 degrees allowing for the droppers to be seen in the very corner of the view.
Visual Pointing can hang if after turning an item is no longer visible. For example if we see the droppers in occam4. Then point, the nose of the sub can obstruct further hits on droppers. This results in a state where we are not moving and we will never get enough hits to terminate search. We either need a short timeout, or a better technique. For example we could use the Z-Plane localizer and use its pose as the new search target instead.
This bug was produced by using a magnetometer offset of 17 degrees allowing for the droppers to be seen in the very corner of the view.