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Centroid refinement likely not doing what we think it is #20

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mikeferguson opened this issue Jul 3, 2015 · 0 comments
Closed

Centroid refinement likely not doing what we think it is #20

mikeferguson opened this issue Jul 3, 2015 · 0 comments
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@mikeferguson mikeferguson commented Jul 3, 2015

The function defines p and point (both PointStamped). We set point to the initial centroid, and then later compare each additional point to the centroid -- except, that we use p instead of point (which is probably initialized to 0,0,0). Since the gripper is usually > 0.5m from the origin of the camera, this probably always fails: https://github.com/mikeferguson/robot_calibration/blob/indigo-devel/robot_calibration/src/led_finder.cpp#L478

@mikeferguson mikeferguson added the bug label Jul 3, 2015
@mikeferguson mikeferguson self-assigned this Jul 3, 2015
mikeferguson added a commit that referenced this issue Jul 3, 2015
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