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Feature/multi robots voxpp #1

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Feature/multi robots voxpp #1

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XiliangLi
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final version of coxpp

victorreijgwart and others added 30 commits May 12, 2020 19:28
@victorreijgwart
Projective integrator draft
f455bd9
@victorreijgwart
Support all TSDF integrator params in projective integrator
88addb8
@victorreijgwart
Scale update weight with point density and make carving optional
548b39f
@victorreijgwart
Consistently use TsdfIntegratorFactory
b3f8aee
@victorreijgwart
Draft of temporal window in TsdfServer
9a6d663
@victorreijgwart
Prune TSDF and ESDF blocks when fully deintegrated
07ac819
@victorreijgwart
Draft of option to include robot trajectory when publishing map
9688583
@victorreijgwart
Also clear the meshes for fully deintegrated TSDF blocks
6d0ec3f
@victorreijgwart
Make projective integrator sensor model params configurable through ROS
d5bfac9
@victorreijgwart
Merge branch 'feature/projective_integrator' into feature/temporal_wi…
080e91c 
…ndow
@victorreijgwart
Add method to check if mesh layer has block with given index
9f53934
@victorreijgwart
Clear up spherical sensor model param names
c1f32bb
@victorreijgwart
Merge branch 'feature/projective_integrator' into feature/temporal_wi…
28123ce 
…ndow
@victorreijgwart
Address gcc warnings
db17158
added multi-mesh plugin and material for transparency
b144f83
remove dummy material
401cd84
some cleanup
6ea0581
catch zero alpha messages
1f23873
move the multiple id's into the same mesh_visual for better occlusion…
c98264a 
… rendering
multiple transparency materials and scene_nodes to move meshes around
98b9790
quality of life improvements
a197b89
longer queue length for MultiMeshDisplay, add a Property to still res…
05d5183 
…et meshes
@victorreijgwart
Improve constness
1d31e48
@victorreijgwart
Add option to use missing points as clearing rays (assume >max range)
f22b5e0
@victorreijgwart
Add method to convert range image back to pointcloud for debugging
fa19ff9
@victorreijgwart
Publish TSDF maps in EsdfServer if publish_tsdf_map=true
e2324da 
Before this change, the EsdfServer only published the TSDF maps if publish_tsdf_map=true AND publish_esdf_map=true
@victorreijgwart
Temp: Make EsdfServer methods threadsafe for use with an AsyncSpinner
bf35923
@victorreijgwart
Reserve the right reprojected pointcloud size on initialization
e1d0367
@victorreijgwart
Revert: Make EsdfServer methods threadsafe for use with an AsyncSpinner
3be25e4
@victorreijgwart
Option to visualize reprojected pointcloud from projective integrator
429ac4c
victorreijgwart and others added 30 commits October 4, 2020 17:13
@victorreijgwart
Truncate max measurement weight for voxels close to the sensor
16003b8
asdded voxblox::Update::kMeshLabel to identify if voxel's label meshed
846763e
update gitignore
d74071a 
update gitignore
add color integration to projective integrator
33b030b
won't process color if input an empty color vector
ab8768b
set updated when deserialize from integer
e21472e
add back publish active tsdf map
ce5371d
add publish esdf map back
0837f13
add back point cloud frame id reset
165aa5c
set map running default to true
2a7b31f
new submap from empty
65b4c5e
to test, add history to mesh
cbe3f12
add trajectory to mesh, and fix bugs
6d4f262
change obs cnt based on time and uint8, bw ~800k
bc6321b
reduce history
cc92138
publish mesh in submap frame
afc1072
don't transforn trajectory
3a3b496
propogate history when transform layer
b94b181
add update pose only flag to mesh msg
35d6cbf
make gravityAlignPose static
dbe33eb
don't transform layer
2182513
Merge branch 'feature/submap_as_mesh' into feature/multi_robots
90508b3
add header to layer with trajectory
03e6b56
use addHistory method instead of update history with generateMesh
90798e3
add history record to projective integrator
f09af25
workable
c694612
history trim work
6a9871f
change c++ standard to 17
482852b
@XiliangLi
modify insertPointcloudwithObs
57945ef
@XiliangLi
final version for coxpp
d8f6762
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@XiliangLi @victorreijgwart