heatmap diffusion convolution confusion #1741
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Co-authored-by: Alexander Schmidt <[email protected]>
oleflb
requested changes
Mar 14, 2025
| self.heatmap | ||
| .map | ||
| .conv(&kernel, ConvMode::Same, PaddingMode::Replicate)?; | ||
| self.heatmap.map /= self.heatmap.map.sum() + f32::EPSILON; |
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instead of adding f32::EPSILON, initialize the heatmap with 1.0 / number_of_grid_cells. Then the heatmap can never sum up to 0.0
oleflb
requested changes
Apr 2, 2025
oleflb
reviewed
Apr 10, 2025
| .search_suggestor_configuration | ||
| .heatmap_convolution_kernel_weight, | ||
| ); | ||
| if let Ok(convolved_heatmap) = |
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When does the convolution return an error? I can imagine this happens only for when the kernel is larger than the heatmap. Right now you are silently ignoring the error. If for some reason this call would only generate Errors, we would not notice it. I though of using .wrap_err("heatmap convolution failed")?
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this should be better now
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Why? What?
changes heatmap decay in single cells to diffusion.
Ideas for Next Iterations (Not This PR)
decay based on viewing direction (#1676)
How to Test
Behavior Sim
or let robot play and look at heatmap