Detecting if marker is being seen or not

asked 2021-11-01 06:37:04 -0600

Roshan gravatar image

Hello, I have a marker and a tf transform between the marker and a robot. This transform is not static, if the robot sees the marker, the transform is published, if it does not, the transform does not publish. This means that the time stamp and transform updates if the marker is in view, and does not update if the marker is not in view.

Is there any way I can use this to check if the marker is detected?

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Hi @Roshan, I am a little confused. If robot sees the marker and transform publishes, isn't that detection?

osilva gravatar image osilva  ( 2021-11-01 08:40:32 -0600 )edit

Sorry, maybe my question was a little unclear. Yes, it is detection, as it's publishing, but how do I check when it stops being detected? The only information on that it has stopped being detected is that it stops publishing information and that the information does not get updated. Would there be any way to check it instead of checking the time stamps?

Roshan gravatar image Roshan  ( 2021-11-01 08:59:08 -0600 )edit

There is an example that may help you. There are other conditions, that you need to take into account as well if you are detecting while moving. Do you want to immediately react if you don't detect something? In the follow example they consider those conditions.

osilva gravatar image osilva  ( 2021-11-01 09:23:08 -0600 )edit