For those who have been waiting for a binary release that includes support for the Velodyne HDL-32. The 1.0.15 RC1 release is based on Blender 2.65.
Changes and new features:
- Fixed PGM export in the Kinect scanner. NOTE: the other scanners don't support PGM export.
- Kinect data is now saved as an ordered map of points. Invalid points have x,y,z = NaN,NaN,NaN but may have a color and a label
- A new noise type can be overlayed over the Kinect disparity map. The parameters Global Noise Scale and Global Noise Smoothness control a perlin noise that influences the disparity map and creates local errors that are not just a simple gaussian noise overlay on the disparity map.
- A generic LIDAR scanner has been added, preconfigured to behave approximately like a Hokuyo UTM-30LX. NOTE: The noise is not yet dependent on the distance, this should be added in the future.
But this scanner can be configured to simulate other senors as well. The vertical angles of the lasers can be configured via a comma separated list of angles (i.e. -1.5,0.3,0.5,2.7 would be 4 lasers with the angles -1.5 , 3.0, 0.5 and 2.7 )
Images from the new kinect noise model:
I have changed jobs (from the University of Salzburg
to the Austrian Institute of Technology (AIT)
) and am currently in the process of setting up my build systems. So for now I can only provide Linux binaries.
As always, I am happy to get feedback and feature requests.