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Persistent mode fix #340

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Persistent mode fix #340

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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -107,7 +107,7 @@ Note: We supply two PCL filters within STVL to massage the data to lower compute
rgbd_obstacle_layer:
enabled: true
voxel_decay: 20 #seconds if linear, e^n if exponential
decay_model: 0 #0=linear, 1=exponential, -1=persistent
decay_model: 0 #0=linear, 1=exponential, 2=persistent
voxel_size: 0.05 #meters
track_unknown_space: true #default space is unknown
observation_persistence: 0.0 #seconds
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2 changes: 1 addition & 1 deletion spatio_temporal_voxel_layer/src/spatio_temporal_voxel_grid.cpp
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Expand Up @@ -348,7 +348,7 @@ double SpatioTemporalVoxelGrid::GetTemporalClearingDuration(
} else if (_decay_model == 1) { // Exponential
return _voxel_decay * std::exp(-time_delta);
}
return _voxel_decay; // PERSISTENT
return std::numeric_limits<double>::max(); // PERSISTENT
}

/*****************************************************************************/
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