For symmetric shapes like pipes, the final output has a tendency to jump around between 180 and -180 degrees. This is undesirable if the estimate is being used to control the robot. Either fix early in the pipeline (shape matcher stage) or postpone to controls stage and just measure distance mod 180.
For symmetric shapes like pipes, the final output has a tendency to jump around between 180 and -180 degrees. This is undesirable if the estimate is being used to control the robot. Either fix early in the pipeline (shape matcher stage) or postpone to controls stage and just measure distance mod 180.