NVIDIA-ISAAC-ROS / NVIDIA-ISAAC-ROS/isaac_ros_pose_estimation
Parameter "refine_iterations" has no effect
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- Dominant language
- C++
- Stars
- 501
- Forks
- 57
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Description
Hello,
I have a problem with the usage of the foundationpose_node. Changing the refine_iterations parameter has no effect whatsoever.
The result as well as the execution time is always the same. BTW, the pose estimation is significantly wrong. That's why I tried to change the parameter in the first place.
Even setting the parameter to 0 has no effect. Actually, this should cause an error in foundationpose_render and foundationpose_transformation.
However, looking into the source code, this behaviour seems to be correct. In the header of foundationpose_node in line 77, the variable is defined as constant:
const int32_t refine_iterations_;
Is it possible to change this parameter to affect the code execution?
Thank you for your help.
Best regards,
Daniel
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reading the foundationpose_node header around line 77 and trace refine_iterations_ into foundationpose_render and foundationpose_transformation. Run the relevant node configuration with zero and a changed positive value; done means the parameter affects execution or results as intended, including the expected handling of zero.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision, robotics
- Issue type
- Bug
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Quiet
- Clarity
- Mostly clear
- Newbie friendliness
- 68/100