{"action":"created","issue":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1828","repository_url":"https://api.github.com/repos/start-jsk/jsk_apc","labels_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1828/labels{/name}","comments_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1828/comments","events_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1828/events","html_url":"https://github.com/start-jsk/jsk_apc/issues/1828","id":162338301,"number":1828,"title":"SIB can not tell whether an object is NOT in a bin","user":{"login":"yuyu2172","id":2062128,"avatar_url":"https://avatars.githubusercontent.com/u/2062128?v=3","gravatar_id":"","url":"https://api.github.com/users/yuyu2172","html_url":"https://github.com/yuyu2172","followers_url":"https://api.github.com/users/yuyu2172/followers","following_url":"https://api.github.com/users/yuyu2172/following{/other_user}","gists_url":"https://api.github.com/users/yuyu2172/gists{/gist_id}","starred_url":"https://api.github.com/users/yuyu2172/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/yuyu2172/subscriptions","organizations_url":"https://api.github.com/users/yuyu2172/orgs","repos_url":"https://api.github.com/users/yuyu2172/repos","events_url":"https://api.github.com/users/yuyu2172/events{/privacy}","received_events_url":"https://api.github.com/users/yuyu2172/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/start-jsk/jsk_apc/labels/enhancement","name":"enhancement","color":"0052cc"}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/milestones/16","html_url":"https://github.com/start-jsk/jsk_apc/milestones/1.0:%20APC2016%2030pt%20(Only%20Pick)%20","labels_url":"https://api.github.com/repos/start-jsk/jsk_apc/milestones/16/labels","id":1758051,"number":16,"title":"1.0: APC2016 30pt (Only Pick) ","description":"- Right gripper: ver. 2.0\r\n- Left gripper: ver. 2.1\r\n- Objects for APC2016\r\n- Object recognition by hand camera","creator":{"login":"wkentaro","id":4310419,"avatar_url":"https://avatars.githubusercontent.com/u/4310419?v=3","gravatar_id":"","url":"https://api.github.com/users/wkentaro","html_url":"https://github.com/wkentaro","followers_url":"https://api.github.com/users/wkentaro/followers","following_url":"https://api.github.com/users/wkentaro/following{/other_user}","gists_url":"https://api.github.com/users/wkentaro/gists{/gist_id}","starred_url":"https://api.github.com/users/wkentaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wkentaro/subscriptions","organizations_url":"https://api.github.com/users/wkentaro/orgs","repos_url":"https://api.github.com/users/wkentaro/repos","events_url":"https://api.github.com/users/wkentaro/events{/privacy}","received_events_url":"https://api.github.com/users/wkentaro/received_events","type":"User","site_admin":false},"open_issues":14,"closed_issues":215,"state":"open","created_at":"2016-05-10T15:08:38Z","updated_at":"2016-06-26T17:40:50Z","due_on":"2016-06-06T15:00:00Z","closed_at":null},"comments":1,"created_at":"2016-06-26T17:40:39Z","updated_at":"2016-06-26T17:42:20Z","closed_at":null,"body":"The target object is joke_book. SIB can tell where the book is when the book exist in the bin. However, SIB produces wrong output when the book does not exist. Therefore, robot mistakenly takes out wrong objects as it did in a practice run.\r\n\r\n\r\n## when object exists\r\ninput \r\n![frame0000](https://cloud.githubusercontent.com/assets/2062128/16363771/f8577c32-3c0f-11e6-975a-98f06c4356f0.jpg)\r\n\r\n\r\noutput\r\n![frame0000](https://cloud.githubusercontent.com/assets/2062128/16363763/c8a15986-3c0f-11e6-8f97-4e9662986a1c.jpg)\r\n\r\n\r\n## when object does not exist\r\n\r\ninput\r\n![frame0002](https://cloud.githubusercontent.com/assets/2062128/16363778/495f3232-3c10-11e6-9c86-d539db34d92c.jpg)\r\n\r\noutput (It is hard to understand what it is by this picture. This is pixels on a dvd.)\r\n![frame0000](https://cloud.githubusercontent.com/assets/2062128/16363781/704017cc-3c10-11e6-9df5-ceeb3d91a318.jpg)\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/comments/228612902","html_url":"https://github.com/start-jsk/jsk_apc/issues/1828#issuecomment-228612902","issue_url":"https://api.github.com/repos/start-jsk/jsk_apc/issues/1828","id":228612902,"user":{"login":"yuyu2172","id":2062128,"avatar_url":"https://avatars.githubusercontent.com/u/2062128?v=3","gravatar_id":"","url":"https://api.github.com/users/yuyu2172","html_url":"https://github.com/yuyu2172","followers_url":"https://api.github.com/users/yuyu2172/followers","following_url":"https://api.github.com/users/yuyu2172/following{/other_user}","gists_url":"https://api.github.com/users/yuyu2172/gists{/gist_id}","starred_url":"https://api.github.com/users/yuyu2172/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/yuyu2172/subscriptions","organizations_url":"https://api.github.com/users/yuyu2172/orgs","repos_url":"https://api.github.com/users/yuyu2172/repos","events_url":"https://api.github.com/users/yuyu2172/events{/privacy}","received_events_url":"https://api.github.com/users/yuyu2172/received_events","type":"User","site_admin":false},"created_at":"2016-06-26T17:42:20Z","updated_at":"2016-06-26T17:42:20Z","body":"Some ideas on solving this issue.\r\n\r\n1. sib does not produce output if a mask of a target object is smaller than some threshold.\r\n2. change picking routine to try only once for each bin."}}
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