Demo 2 Feedback and Wrapping Up!
This week, we had a pretty successful second demo. Diego and Ike focused heavily on the software integration and showed the perception pipeline working in tandem with the rest of the CSM. One thing that they hadn’t considered was the time that the CSM threads and operations would add to the already computationally intensive perception pipeline. Since the CSM manages every component in the InFrame system, and no singular operation is relatively time-consuming, this was somewhat of a surprise to them. The team believes that the added computation time is the result of Python not being the best language for concurrency at high speeds and taking a significant amount of time context swapping the communication, storage and main threads. However, with the work that Diego just finished, the Perception Pipeline is much faster and the system is doing tracking almost at real-time speeds. In addition to these improvements, the team’s repository on github was also refactored and is now split into the core functionality running on the CSM and the iOS code that Ike is working on for the Remote interface.
In terms of hardware, for demo 2, Thor showed off the work that he’s done with motor testing as well as the new and improved form factor for the system, which he will continue to work on and test these coming days. Check it out below!
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