0123 » History » Revision 3
Revision 2 (Quentin Labourey, 2018-01-24 11:16) → Revision 3/9 (Quentin Labourey, 2018-01-24 11:47)
h1. 01/23 - Discussion on PoM
*Participants:*
Quentin, Simon
*Goal of the meeting:* Discuss the general state of the processing we want to showcase in sprint 1 and more precisely the problems we might encounter on PoM.
h2. General chain discussion
Ellon and I have been working on providing the right types of data to the DEM module. At the moment the chain from MORSE to the DEM module looks like this:
!existing_chain.png!
With:
* *Fake velodyne*: take as input the pointclouds produced by velodyne, aggregates them into one point cloud, and associate the pose of the robot to it.
* *Point cloud pose stamped* is a data structure defined in IDL for genom3 module from which we can build the DEM
ATM: *No POM*. What we would like is the following :
!wanted_chain.png!
This includes:
* *Changing fake velodyne* : makes it quite a bit harder as this means Ellon needs to "rewrite TF" and keep changes in pose in memory in order to aggregate properly when the robot moves
* *Accepting some