White Lines are not persisted

Question

White Lines are not persisted

Closed this issue 2 years ago · 3 comments

Now that we've removed the static layer, white lines are no longer persisted. This is an issue, as nav will go over a line as soon as it falls out of frame

Answer 1 · 2022-04-21T01:24:07.000Z

White line detection is also reallly laggy on the desktop, to the point of being multiple frames behind. We should use opencv and consider skipping some frames

Answer 2 · 2022-05-04T01:23:56.000Z

So the issue was that scan matcher was not matching the delayed WLD points. I've added a delay to the message filter, but now all of scan is this slow. We need to speed up image processing so that slam is full speed again.

Answer 3 · 2022-05-05T00:37:56.000Z

Lowering the realsenses resolution rasied speed enough to solve the issue.