Wrote affordance publisher, which lets us publish only a few affordances at a time. Also wrote a bunch of stuff for boundary estimation. Next, I'll play with some parameters to see if I can get it to produce good borders (currently it's doing way too many).
Wrote basic plane recognition.
Moved stuff into pcl_utils.
Stuff got screwed up somehow.
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
Worked on reading/writing vectors quickly.
can clip triangles against frustum
Finally got vector read/write working.
In the midst of working on the PointCloudVoxelGrid class, for 'negating' pointclouds.
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