These past two weeks, I finished pose estimation that goes with the CV. I also wrote logic to lock onto our target after they gesture that they want the ball, as well as added logic that determines when and where to turn. One issue I ran into is that adding pose estimation and running it multiple times for each person detection within a frame caused a lot of latency. I reduced this latency by reducing how many people we run pose estimation on, as well as reducing the number of frames we run pose estimation as well. Because our CV works and is functional, I’m exploring redoing my method of linking pose estimation to the depthAI detections. Instead of running pose estimation on each detection, I am thinking of running pose estimation once through the entire RGB map and linking it through pixel location to our RGBD map. However, since I am done with my portion of the project, Tomorrow I plan on cycling between working on the new CV, doing further stress testing of my CV to see if I need to implement pixel mapping, and if I do not, helping with other parts of the project, specifically the PID control for rotating and the launcher.
As for progress, I believe that I am nearly done; however, we have one day left and are most definitely behind on launching and rotational control, even if the CV is working. We are confident in our ability to finish our turning, but the setbacks we experienced with our motor control board early this week have hampered our ability to be able to control our physical launching of the ball. This aspect of the progress won’t end up the way we want it, and we didn’t have enough time to do enough integration testing between our CV and rotational control to ensure that it will be the way we had envisioned by demo.