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Nvblox pull request - New features: new lidar and camera models; different weighting functions, etc. #16

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Nvblox pull request - New features: new lidar and camera models; different weighting functions, etc. #16

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@gogojjh gogojjh commented Dec 4, 2022

New Features

  • Support more general LiDAR models, like the Ouster128 and VLP64, whose measurements do not strictly follow the original lidar projection model: oslidar.(h/cpp)
  • Support the rectified camera model: camera_pinhole.(h/cpp)
  • Support the computation of a normal image in CUDA from a range image: image_operation.(h/cpp)
  • Support different ``weighting average'' methods in the TSDF integration and color integration: weight_function.h
  • Create fuser_rgbd.(h/cpp) and fuser_lidar.(h/cpp) to distinguish the integration with a RGBD sensor from a lidar
  • Add new datasets support: KITTI and FusionPortable. Testing results are reported in several README files

gogojjh added 30 commits October 28, 2022 13:02
@gogojjh
add nvblox_interfer link to nvblox_datasets
e3d4098
@gogojjh
add output time explanation
0407275
@gogojjh
add oslidar_impl and test_oslidar
1c698a5
@gogojjh
write fusionportable.cpp: load depth_image and z_image, image_loader,…
d291130 
… oslidar_impl
@gogojjh
[executables] define virtual function
8f243f4
@gogojjh
[executables] define virtual function
679045b
@gogojjh
[executables] define virtual function
6d0f43d
@gogojjh
[executables] use OSLidar in TSDF integration and view_calculator
1839063
@gogojjh
[TSDF integration] add comments and meet problems in integration
73c5b18
@gogojjh
meet bugs in view_calculator
4a7f06d
@gogojjh
projective_tsdf_integrator and view_calculator: add cuda memory operator
4b40905
@gogojjh
correct the lidar model
2655077
@gogojjh
successfully run on FusionPortable dataset, but cannot get correct re…
ba0eea0 
…sults
@gogojjh
add fuser_lidar to split out camera-based integration and lidar-based…
3bb2b24 
… integration
@gogojjh
fix the angle calculation of oslidar_impl
b60df8e
@gogojjh
address the lidar_impl
0cc07a9
@gogojjh
add README
0e3dfb9
@gogojjh
compute the minimum and maximum angle of ouster
eaf5397
@gogojjh
fix the intrinsics of the OSLidar model, and successfully got TSDF re…
0e927c4 
…construction results
@gogojjh
add explanation of processing OSLidar in README.md
2cdfed7
@gogojjh
add explanation of processing OSLidar in README.md
59b86e4
@gogojjh
add color integration
975546a
@gogojjh
add color integration
147a3a9
@gogojjh
add different voxel update method
b3045ad
@gogojjh
add test_normal_image but not really fix
79e771e
@gogojjh
finish test_normal_image
01a991a
@gogojjh
add normal_image_computation but not finish
ac65cb4
@gogojjh
successfullly compile and run the computeNormalImage
6f72246
@gogojjh
add normal data retrieval
579d292
@gogojjh
add different voxel_dis_method
71c89c2
gogojjh added 28 commits November 22, 2022 04:59
@gogojjh
add non-projective distance implementation, but not test
ef28f7e
@gogojjh
add non-projective distance implementation, and successfully test
84e1e3b
@gogojjh
add non-projective distance implementation, and successfully test
24ddbd9
@gogojjh
add non-projective distance implementation, and successfully test
0a530f6
@gogojjh
add obstacle_output_path, but not test
0472265
@gogojjh
add the output of obstacle map
efb8eb0
@gogojjh
add non-projective distance implementation, and successfully test
27dea7a
@gogojjh
add experimental results on 20220216_escalator_day and 20220226_campu…
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…s_road_day
@gogojjh
add experimental results on 20220216_escalator_day and 20220226_campu…
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…s_road_day
@gogojjh
format the cuda/conversions
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@gogojjh
add the tsdf integration with the KITTI dataset
57b573c
@gogojjh
add the tsdf integration with the KITTI dataset
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@gogojjh
[README.md] add data download link
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@gogojjh
[weight averaging] fix the linear weight of voxel_dis_method=6
02680c4
@gogojjh
add test with dynamic objects
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@gogojjh
add comments in projective_color_integrator
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@gogojjh
add template function in color_integration
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@gogojjh
add camera_pinhole
0daefec
@gogojjh
add kitti.cpp and parse camera file for kitti data
b80beba
@gogojjh
perform color integration in the KITTI odometry seq07
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@gogojjh
add kitti.cpp and parse camera file for kitti data
2ce1a3b
@gogojjh
add kitti.cpp and parse camera file for kitti data
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@gogojjh
successfully compile and run tests files && modify jjiao->gogojjh
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@gogojjh
successfully compile and run tests files && modify jjiao->gogojjh
5357622
@gogojjh
successfully compile and run tests files && modify jjiao->gogojjh
b97a44f
@gogojjh
update README.md: add the link of the KITTI and FusionPortable dataset
99e75e9
@gogojjh
update README.md: add the link of the KITTI and FusionPortable dataset
717ffa9
@gogojjh
update README.md: add the link of the KITTI and FusionPortable dataset
5717740
@hjxwhy
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hjxwhy commented Dec 17, 2022

Thanks for your development, but the test data URL seems not work, I can't download the data for testing.

@gogojjh
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gogojjh commented Dec 17, 2022

Thanks for your reminder. Please check the new link: http://gofile.me/4jm56/AcbBNmBO8

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@gogojjh @hjxwhy