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NUbots / robocup

The NUbot's RoboCup Code
GNU General Public License v3.0
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field lines become obstacles when looking down #57

Open josiahw opened 11 years ago

josiahw commented 11 years ago

this is only an issue when looking so far down that field lines go off the top of the screen.

shannonfenn commented 11 years ago

Yeah this has been known as a problem since the method was first implemented - problem is that I can't think of a fix that won't cause white robots etc. to be unseen as obstacles.

josiahw commented 11 years ago

when we are looking below a certain angle, ignore obstacles?

On Thu, Jun 13, 2013 at 7:49 PM, Shannon Fenn notifications@github.comwrote:

Yeah this has been known as a problem since the method was first implemented - problem is that I can't think of a fix that won't cause white robots etc. to be unseen as obstacles.

— Reply to this email directly or view it on GitHubhttps://github.com/nubots/robocup/issues/57#issuecomment-19382076 .

shannonfenn commented 11 years ago

Not a complete solution, there are angles at which the lines are still obstacles, but which we still need to see obstacles for avoidance. I'll put this method in for robocup though.

StevenNicklin commented 11 years ago

You may be able to use the fact that the lines are white and most of the real obstacles are not to help filter these cases.

shannonfenn commented 11 years ago

"Robots may also be colored in aluminimum-like silver, grey or white"

josiahw commented 11 years ago

however with the exception of 1 team last year, they were not :)

On Thu, Jun 13, 2013 at 10:45 PM, Shannon Fenn notifications@github.comwrote:

"Robots may also be colored in aluminimum-like silver, grey or white"

— Reply to this email directly or view it on GitHubhttps://github.com/nubots/robocup/issues/57#issuecomment-19389120 .

shannonfenn commented 11 years ago

Yeah I just don't want to disable our ability to see them as obstacles for the rare occasion when we see a line that occurs as one - when something like a head angle check might reduce this occurrence to low enough not to be an issue.