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.
Two options are implemented currently:
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.