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- The motherboard of car2 seems fried. I've tried to connect it to a screen and there was no signal.
- The left rear wheel of car3 doesn't spin when the motor runs.
- Both cars 1 and 3 (I couldn't check car 2) have biased steer. When the steer input signal is 0 they turn left (in car1 this problem is very evident).
- Cameras should be screwd to the metal support. Now everytime they move, the calibration must be done again. An extrinsic calibration (at least) should probably be performed again after this job.
- Sometimes the two chargers close to the whiteboard display the green light when cars are connected (i.e. they're done charging) but when I move the wires the light turns red.
CAMERA MEASUREMENT ERROR CORRECTION
The position of the car on the test-bed computed by the CPS is affected by a considerable error. I made some manual measurement of this error by finding the real position with the measuring tape and checking the computed position on the CPS and I found it to be be up to 35cm30cm. Moreover, when the tracking of a car pass from a camera to another, the global coordinates "leap" because the position error in the transition point is different for the two cameras.
I made some investigation on the trend of this error. Partial The results are shown in error_trend.png. In the figure, "x_loc" indicate the x coordinate in pixels in the local coordinate system of the camera (i.e. the horizontal one), while "x_glob" is the x coordinate in cm in the global coordinate system. Remember that the axises of the local and the global coordinate systems are inverted. Data where gathered for two cameras. I decided to consider the error linear along both direction and try to apply a correction to the computed global coordinates.
The correction applied is in the form err = a*x_loc*y_loc + b*x_loc + c*y_loc + d.
THINGS I WOULD HAVE LIKED TO BE DOCUMENTED
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