Now the new method is fully working. Also sped up things a bunch.
Working on new method for occlusion finding. Something's still a bit messed up.
working on new triangulation using vertical partitioning
Got new occluded points finding algorithm working. Wrote some code to create pointclouds that are colored based on kinfu weights.
In the midst of tuning/improving/speeding up the occlusion finding. There's some weirdness with the cluster extraction finding really large, illogical clusters.
Worked on adding more command-line options. Spent some time tweaking parameters for occlusion-finding. Speed seems to mostly be determined by how much downsampling occurs in plane_recognition.cpp. Goodness of occlusion finding depends a lot on the cluster_tolerance argument used in cluster_extraction.cpp. Smaller tolerance --> smaller clusters. We'll have to play with this.
Integrated the 'low weight' (e.g. weight < 50) voxels as occluded points. Causes a bit of a performance hit (.1-.2 seconds) and doesn't really change the gaussians too much, but does make the approach a bit more principled. Also, the plane fitting isn't really much of a bottleneck anymore. Current time breakdown (for a very large cloud) is: convert tsdf - 1.4s, extract clusters - 0.95s, find occluded regions - 0.59s. Might try to improve cluster extraction next.
Merging peter into master.
unsuccessful to speed up triangulation
Merge branch 'master' into gkahn
able to convexify pointcloud
modified handle detector to have output frame