Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Handle negative observations / filter rework #480

Merged
merged 20 commits into from
Jun 22, 2024
Merged

Handle negative observations / filter rework #480

merged 20 commits into from
Jun 22, 2024

Conversation

val-ba
Copy link
Contributor

@val-ba val-ba commented Jun 13, 2024 •
edited by Flova
Loading

Summary

Checks if we should see the ball and bumps covariance if we don't.
Also removes kalman filter as we don't have too much noise currently and is simplifies the code and enables more non linear modelling of the ball behavior.

Proposed changes

  • Create a subscription on the camera info topic to get the camera matrix
  • test whether it is in fov by transforming it into the camera frame and applying the camera matrix

Related issues

#230

Checklist

  • Run colcon build
  • Write documentation
  • Test on your machine
  • Test on the robot
  • Create issues for future work
  • Triage this PR and label it

@val-ba val-ba self-assigned this Jun 13, 2024
@val-ba val-ba requested review from jaagut and Flova June 13, 2024 11:59
@val-ba val-ba added the enhancement New feature or request label Jun 13, 2024
@val-ba val-ba marked this pull request as ready for review June 13, 2024 12:39
@val-ba val-ba requested a review from NFiedler June 13, 2024 12:39
@Flova Flova changed the title Use higher process kf when ball should be visible but is not Handle negative observations / filter rework Jun 19, 2024
@Flova Flova force-pushed the feature/use_higher_process_kf branch from 4b3e70c to 59d2be7 Compare June 19, 2024 15:37
@Flova Flova self-requested a review June 19, 2024 18:22
@Flova Flova merged commit 8a9ee68 into main Jun 22, 2024
2 checks passed
@Flova Flova deleted the feature/use_higher_process_kf branch June 22, 2024 10:46
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@jaagut jaagut jaagut left review comments

@Flova Flova Flova approved these changes

@NFiedler NFiedler Awaiting requested review from NFiedler

Assignees

@val-ba val-ba

Labels
enhancement New feature or request
Projects
Software
Status: ✅ Done
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.

None yet
3 participants
@val-ba @Flova @jaagut