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SteveMacenski / spatio_temporal_voxel_layer

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations
http://wiki.ros.org/spatio_temporal_voxel_layer
GNU Lesser General Public License v2.1
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reset grid on disable #269

Closed tonynajjar closed 1 year ago

tonynajjar commented 1 year ago

When disabling a source, it would make sense that its perceived voxels are cleared immediately as well and not left to expire

tonynajjar commented 1 year ago

@SteveMacenski follow up question on this, ResetGrid will actually reset all the voxels from all the sensors right? Is there a way to reset only the voxels of the disabled source?

SteveMacenski commented 1 year ago

No, the source is not stored in the voxel grid along with the time / marked status. It definitely could be, technically speaking, but that would add 8 bytes per voxel, effectively doubling the memory overhead of larger grids to store -- then require iterating through the grid to remove only those of a certain value. Disabling a sensor's data wouldn't be automatic

It is technically possible and wouldn't be overly difficult I don't think to add, but would be some effort to make that change

Another option which also had increased compute is that if you have 1 sensor you think you may need to disable regularly and want to have it cleared out, you could isolate that into its own instance of this layer.