A small fix for clearing update flag after pub #424
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Among the update flags (kMap, kMesh, kEsdf), only kMap is not reset after being used. In serializeLayerAsMsg, the system retrieves updated blocks using:
However, there is no corresponding call to reset the kMap update flag. As a result, Voxblox will continue publishing all previously updated blocks, which actually are the entire allocated blocks.
Fix
This PR addresses the issue by resetting the kMap flag after each publishing cycle, ensuring that only newly updated blocks are serialized and sent out.