... and as it turns out, our approach failed on the Vicon case. The reason is that each marker has a near identical complex structure below. We could ignore the channels, but then our algorithm would fail when for example residuals are added, or is in our case yesterday, time channels were added to the main tracker node.
So back to the drawing board.
Here is what a Vicon hierarchy looks like:
Proposal to fix this is with submaps:
- the identification function determines when a submap is created
- the id used to find the submap is the id of the node that created the submap
- top map has id '\'
- all nodes are recorded, nothing is skipped