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update objectdetection_tf_publisher for publishing simple tf #457

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YoheiKakiuchi commented Dec 2, 2014

add code for publishing tf simply, instead of using dynamic_tf_publisher

YoheiKakiuchi added a commit that referenced this pull request Dec 2, 2014
update objectdetection_tf_publisher for publishing simple tf
@YoheiKakiuchi YoheiKakiuchi merged commit c547810 into jsk-ros-pkg:master Dec 2, 2014
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@YoheiKakiuchi YoheiKakiuchi deleted the YoheiKakiuchi:update_objectdetection_tf branch Dec 2, 2014
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k-okada commented Dec 2, 2014

nice, as far as I understand dynamic_tf_publisher is not necessary.
Btw, why you eliminate dynamic_tf_publisher, does that have any problem?

On Tue, Dec 2, 2014 at 8:20 PM, Yohei Kakiuchi notifications@github.com
wrote:

add code for publishing tf simply, instead of using dynamic_tf_publisher

You can merge this Pull Request by running

git pull https://github.com/YoheiKakiuchi/jsk_recognition update_objectdetection_tf

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#457
Commit Summary

  • update objectdetection_tf_publisher for publishing simple tf

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YoheiKakiuchi commented Dec 2, 2014

I didn't eliminate dynamic_tf_publisher, I just added code for publishing tf simply, you can dynamic_tf_publisher as well.
It is redundant to launch two nodes for simply converting Objectdetection to tf.

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k-okada commented Dec 3, 2014

is there any reason not to remove code to use dynamic_tf_publisher. As prof
Inaba always told us, do not increase the size of code.

On Wed, Dec 3, 2014 at 1:10 AM, Yohei Kakiuchi notifications@github.com
wrote:

I didn't eliminate dynamic_tf_publisher, I just added code for publishing
tf simply, you can dynamic_tf_publisher as well.
It is redundant to launch two nodes for simply converting Objectdetection
to tf.


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garaemon commented Dec 3, 2014

baxter use the dynamic_tf_publisher functionality.

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aginika commented Dec 3, 2014

Should I delete it?

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garaemon commented Dec 3, 2014

Should I delete it?

No you shouldn't. But you should make special jig for kinect to put it on baxter stably.

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k-okada commented Dec 4, 2014

As far as I understand if this script publish tf, we do not need to send
information to dynamic_tf_publisher is it right?

On Wed, Dec 3, 2014 at 6:29 PM, Ryohei Ueda notifications@github.com
wrote:

Should I delete it?

No you shouldn't. But you should make special jig for kinect to put it on
baxter stably.


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garaemon commented Dec 4, 2014

Nop, we cannot STORE tf w/o recognition result. Baxter wants to store
external parameter from kinect to checker board.

BTW, my recommend is

  1. for baxter, we should have better jig and calibration process

  2. for general recognition purpose, do not use tf, but use ObjectDetection.
    tf is not so reliable if it is not streaming data

  3. is important and tf is not almighty

2014年12月4日木曜日、Kei Okada<notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>さんは書きました:

As far as I understand if this script publish tf, we do not need to send
information to dynamic_tf_publisher is it right?

On Wed, Dec 3, 2014 at 6:29 PM, Ryohei Ueda notifications@github.com
wrote:

Should I delete it?

No you shouldn't. But you should make special jig for kinect to put it
on
baxter stably.


Reply to this email directly or view it on GitHub
<
https://github.com/jsk-ros-pkg/jsk_recognition/pull/457#issuecomment-65378119>

.


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#457 (comment)
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k-okada commented Dec 4, 2014

I see, ObjectDetecttion is assume to publish time to time, and we need to
publish tf every cycle. Thant make sense, so why we publish tf, they may be
useless.

On Thu, Dec 4, 2014 at 11:08 AM, Ryohei Ueda notifications@github.com
wrote:

Nop, we cannot STORE tf w/o recognition result. Baxter wants to store
external parameter from kinect to checker board.

BTW, my recommend is

  1. for baxter, we should have better jig and calibration process

  2. for general recognition purpose, do not use tf, but use
    ObjectDetection.
    tf is not so reliable if it is not streaming data

  3. is important and tf is not almighty

2014年12月4日木曜日、Kei Okada<notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>さんは書きました:

As far as I understand if this script publish tf, we do not need to send
information to dynamic_tf_publisher is it right?

On Wed, Dec 3, 2014 at 6:29 PM, Ryohei Ueda notifications@github.com
wrote:

Should I delete it?

No you shouldn't. But you should make special jig for kinect to put it
on
baxter stably.


Reply to this email directly or view it on GitHub
<

https://github.com/jsk-ros-pkg/jsk_recognition/pull/457#issuecomment-65378119>

.


Reply to this email directly or view it on GitHub
<
https://github.com/jsk-ros-pkg/jsk_recognition/pull/457#issuecomment-65526493>

.

from iPhone


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#457 (comment)
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garaemon commented Dec 4, 2014

I still do not agree with usage if tf for perception result.

  1. it's difficult to detect disappearance of tf
  2. too many nodes uses /tf and listeners are easy to drop message
  3. we don't know required framerate of tf. 1fps is enough?
    linear interpolation works? kalman filter smoothing? I think there is no
    general answer.

But this discussion is a little bit outside of this PR.

2014年12月4日木曜日、Kei Okadanotifications@github.comさんは書きました:

I see, ObjectDetecttion is assume to publish time to time, and we need to
publish tf every cycle. Thant make sense, so why we publish tf, they may
be
useless.

On Thu, Dec 4, 2014 at 11:08 AM, Ryohei Ueda <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

Nop, we cannot STORE tf w/o recognition result. Baxter wants to store
external parameter from kinect to checker board.

BTW, my recommend is

  1. for baxter, we should have better jig and calibration process

  2. for general recognition purpose, do not use tf, but use
    ObjectDetection.
    tf is not so reliable if it is not streaming data

  3. is important and tf is not almighty

2014年12月4日木曜日、Kei Okada<notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');
<javascript:_e(%7B%7D,'cvml','notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');');>>さんは書きました:

As far as I understand if this script publish tf, we do not need to
send
information to dynamic_tf_publisher is it right?

On Wed, Dec 3, 2014 at 6:29 PM, Ryohei Ueda <notifications@github.com
javascript:_e(%7B%7D,'cvml','notifications@github.com');>
wrote:

Should I delete it?

No you shouldn't. But you should make special jig for kinect to put
it
on
baxter stably.


Reply to this email directly or view it on GitHub
<

https://github.com/jsk-ros-pkg/jsk_recognition/pull/457#issuecomment-65378119>

.


Reply to this email directly or view it on GitHub
<

https://github.com/jsk-ros-pkg/jsk_recognition/pull/457#issuecomment-65526493>

.

from iPhone


Reply to this email directly or view it on GitHub
<
https://github.com/jsk-ros-pkg/jsk_recognition/pull/457#issuecomment-65526923>

.


Reply to this email directly or view it on GitHub
#457 (comment)
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from iPhone

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