Small improve

xuhao1 · Nov 22, 2022 · f975166 · f975166
1 parent 7e1479c
commit f975166
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/taichi_slam/mapping/dense_tsdf.py b/taichi_slam/mapping/dense_tsdf.py
@@ -149,7 +149,7 @@ def is_unobserved(self, sijk):
 
     @ti.func
     def is_occupy(self, sijk):
-        occ2 = self.TSDF[sijk] < self.tsdf_surface_thres/2
+        occ2 = self.TSDF[sijk] < self.tsdf_surface_thres
         return occ2
 
     def recast_pcl_to_map(self, R, T, xyz_array, rgb_array):

diff --git a/taichi_slam/mapping/topo_graph.py b/taichi_slam/mapping/topo_graph.py
@@ -457,9 +457,9 @@ def detect_collisions(self) ->ti.i32:
                 self.black_unit_list[index] = self.sample_dirs[i]
                 self.black_len_list[index] = _len
                 ray_len_black += _len
-                if t == 1: #Is connected to other polyhedron
-                    _idx = ti.atomic_add(self.neighbor_node_num[None], 1)
-                    self.neighbor_node_ids[_idx] = node_idx
+                # if t == 1: #Is connected to other polyhedron
+                #     _idx = ti.atomic_add(self.neighbor_node_num[None], 1)
+                #     self.neighbor_node_ids[_idx] = node_idx
             else:
                 index = ti.atomic_add(self.white_num[None], 1)
                 self.white_list[index] = col_pos