fixed ransac param bug. tuned ransac params well, but still not perfect
first pr2_utils commit
truncate image plane against triangle works for one triangle in simplest case
can truncate and get multiple polygons. only ones that dont work now are ones that are wholely encompassed (no intersections)
added some comments
have Camera projection working and visualized
partway through truncated view frustum
truncate view frustum buggy. go back to old algorithm idea
can clip triangles against frustum
initial triangulation works. still need to put it back in 3d
I believe view frustum works. clean up code tomorrow
Cleaned up code. Now try to speed it up
sped up from 2.5 to .7 seconds
updated kinect transform. signed distance works
moved tests to separate folder
reorganized. coded up geometry in c++
merged .gitignore
Merge branch 'peter'
Can now find (roughly) the occluded regions behind objects. Working on cutting some out using plane fitting.
Refactored a bunch. Now there's just a single pipeline for the whole occluded region detection.