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personalrobotics / prpy

Python utilities used by the Personal Robotics Laboratory.
BSD 3-Clause "New" or "Revised" License
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DetectObjects() returns duplicate kinbodies in prpy.perception.apriltags.py #292

Closed DavidB-CMU closed 8 years ago

DavidB-CMU commented 8 years ago

When you call DetectObjects() (from apriltags.py) for the first time in an environment, it returns both _addedkinbodies and _updatedkinbodies

robot.DetectObjects()

Out[1]: [RaveGetEnvironment(1).GetKinBody('table127'), RaveGetEnvironment(1).GetKinBody('plastic_glass124'), RaveGetEnvironment(1).GetKinBody('table127'), RaveGetEnvironment(1).GetKinBody('plastic_glass124')]

any other subsequent calls return only the updated kinbodies:

Out[1]: [RaveGetEnvironment(1).GetKinBody('table127'), RaveGetEnvironment(1).GetKinBody('plastic_glass124')]

Is this expected? I would propose only returning the added kinbodies.

DavidB-CMU commented 8 years ago

Please see PR #294

DavidB-CMU commented 8 years ago

Will not fix in apriltags.py
This will be fixed by PR https://github.com/personalrobotics/kinbody_detector/pull/4