#44 fiducial finder sees way too many fiducials

closed-works-for-me
stage (111)
5
2003-04-17
2003-04-14
Richard Vaughan
No

(reported by Hoa Nuguyen by phone)

FiducialFinder sees too many fiducials and crashes
Stage (overflows fiducualfinder's buffer?), when there
are just a few fiducial ids set in the world.

Discussion

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    user_id=139639

    workaround: use the FooFinder device instead. FooFinder
    will probably be faster with small populations, but not as
    realistic as the FiducialFinder (as it doesn't handle
    occlusion as precisely).

     
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    user_id=139639

    With these models:

    position ( port 6665
    pose [1.0 1.0 20]
    laser( fiducialfinder() )
    )

    position (
    port 6666
    pose [1.0 1.0 20]
    laser()
    fiducial_id 20
    )

    it works fine for me. I can create multiple position models
    with different fiducial_ids and port numbers and see them
    perfectly in the 6665 robot's fiducialfinder.

    i'll close this bug. If someone has a worldfile that
    demonstrates this problem, please let me know.

     
    • status: open --> closed-works-for-me