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lardemua / atom

Calibration tools for multi-sensor, multi-modal robotic systems
GNU General Public License v3.0
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Failsafe plan for not finding mesh_file ... #162

Closed miguelriemoliveira closed 4 years ago

miguelriemoliveira commented 4 years ago 
  # TODO If no mesh is given, or if mesh_file does not exist, isse a warning and create a drawing of the
        #  pattern with lines m.mesh_resource = 'package://interactive_calibration/meshes/charuco_5x5.dae'
        m.mesh_resource = dataset['calibration_config']['calibration_pattern']['mesh_file']
        m.mesh_use_embedded_materials = True
        markers.markers.append(m)
miguelriemoliveira commented 4 years ago

Hum, not sure about this. I think the drawing of the meshes strucutre (i.e. the lines and points that we use for optimization should always be there, not just as a backup to not being able to draw the mesh with texture.)

@aaguiar96 , you were working with me in the visualization.py , you agree with this assessment?

aaguiar96 commented 4 years ago

Hi @miguelriemoliveira

Honestly, I did not understand your doubt. Sorry!

aaguiar96 commented 4 years ago

Ahh ok, I think I got it.

I think that the points used for optimization should always be drawn. However, if no mesh file is provided, maybe the user is not interested in seeing the pattern? Should we draw a charuco_5X5 even if the real pattern could be an arbritary chessboard?

miguelriemoliveira commented 4 years ago

So the idea of the issue was to find a way to have a backup plan for drawing the pattern when the mesh file was not present.

The backup plan would be to draw some lines and points, like a wireframe of the pattern, the limit points, etc.

After working with you on the visualization I think that drawing the lines and points and limit points of the pattern is not accessory and should not be drawn only when we do not have a mesh. It should always be draw (and of course it can be hidden from rviz).

You agree?

miguelriemoliveira commented 4 years ago

I was late. Yes, that was it. We should only draw if we have the correct mesh, I think. So I will close this one since there is no need for a "failsafe plan".

Thanks