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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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Interactive markers glitch #86

Closed tiagomfmadeira closed 4 years ago

tiagomfmadeira commented 4 years ago

Interactive markers used while labelling the data suddenly disappear and then reappear with no obvious cause.

miguelriemoliveira commented 4 years ago

@tiagomfmadeira , @afonsocastro and @eupedrosa , deja vu ...

miguelriemoliveira commented 4 years ago

I will take a look.

miguelriemoliveira commented 4 years ago

I think this should be related to the detection of chessboards in the camera, or more specifically when this detection fails ... here's a printout of the time each interactive labeller takes to label the data

The screenshot was captured when the markers disappear from rviz. Notice how the chessboard latellers are taking 200 milisecs to "try to detect".

I think this is what is delaying everything else ...

image

miguelriemoliveira commented 4 years ago

nots sure how to solve it though ... because this is inside the

https://github.com/lardemua/AtlasCarCalibration/blob/954137668c1db7705eaa759b332b5fc093ee9b6b/interactive_calibration/src/interactive_calibration/interactive_data_labeler.py#L284-L285

miguelriemoliveira commented 4 years ago

is it a problem really? What would be the expected behaviour @tiagomfmadeira and @eupedrosa ?

eupedrosa commented 4 years ago

The interactive markers have a timeout?

About detection times. Maybe it can be improved by #87. I will do some tests with the charuco board tomorrow and will report back.

miguelriemoliveira commented 4 years ago

Yes, I am convinced that with the charuco detection we should be fine. Lets close this one for now.