Add fixes to vision pipeline, add debug prints to `managerTUG`, make `eventCollector` save data without exiting

robotology / assistive-rehab

Assistive and Rehabilitative Robotics

BSD 3-Clause "New" or "Revised" License

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Closed mfussi66 closed 1 year ago

mfussi66 commented 1 year ago

This PR adds some fixes that are necessary for running the TUG and were noticed during trials:

gazeController now uses the config file dedicated to 640x480 resolution
Realsense required framerate lowered to 15FPS: yarpOpenPose runs at 10Hz so lower framerate saves bandwidth and does not waste frames
Add meaningful debug prints to managerTUG state machine, and throttle yarp logs that flood the terminal
Make the eventCollector save the event .json file after each trial, and not at exit.

pattacini commented 1 year ago

Awaiting the CI before merging.