visual recognition of arm's work environment

TODO--------------------------------

REFERENCER

• request server does not work in the best way: timeout is now for robot to stop moving, since request arrives when robot not stopped and the referencer must wait for it to be standing still

• computeXPose() should call a function, passing the correct arguments, when possible, hence to avoid repetition of same code too many times

• rotate correctly reference frames: IMU: y UP, x TOWARD LEFT

• change to correct MAX_MID_PANEL_ARUCO_ID to 9

• imu_ has velcro, should consider it for model and position

INQUIRER+DETECTOR:

• should grant one of this to the ability to stop the robot when a new marker is found (as originally done)?

ERRORS------------------------

DETECTOR

• sometimes (during exploration)

[ERROR] [1659625745.921060, 4721.782000]: bad callback: <function cameraCallback at 0x7f041559a9d0> Traceback (most recent call last): File "/opt/ros/noetic/lib/python3/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg)

File "/catkin_ws/src/almax/arm_vision/scripts/detector_aruco.py", line 136, in cameraCallback detAruImg,aruDistnc,Pmatr=singleAruRelPos(detAruImg,aruPoints,mId,targetMarkSize,

File "/catkin_ws/src/almax/arm_vision/scripts/roscamLibrary3.py", line 259, in nsingleAruRelPos rvecs,tvecs,object_points= aruco.estimatePoseSingleMarkers(corners,markerSize_mm,camera_matrix,camera_dist_coefs)

cv2.error: OpenCV(4.2.0) ../contrib/modules/aruco/src/aruco.cpp:1064: error: (-215:Assertion failed) markerLength > 0 in function 'estimatePoseSingleMarkers'

REFERENCER:

• sometimes, not able to reference (request arrives, yet no effect)