Adds a score layer to track arbitrary floats per voxel

ethz-asl / panoptic_mapping

A flexible submap-based framework towards spatio-temporally consistent volumetric mapping and scene understanding.

BSD 3-Clause "New" or "Revised" License

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Adds a score layer to track arbitrary floats per voxel #48

Closed hermannsblum closed 1 year ago

hermannsblum commented 2 years ago

Two options are implemented currently:

running average of values
overwriting by keeping the latest value

I focused on the single-tsdf case, not sure if there are more modifications necessary for the multi-tsdf?

If this looks in general good to you, the uncertainty voxel should probably be removed and rather integrated as an exponential decay option in the score layer.