Howdy everyone - your friendly neighborhood navigator here!
I wanted to let you know quickly about a new feature in STVL that I think is very useful for the community - Obstruction Zones! Courtesy of Remco, these allow you to specify occlusions to your sensors to treat them specially in the decay functions so that they remain present when in-bounds of the sensor frustum so they aren’t actively decayed.
STVL was originally designed with high-visibility sensor configurations in mind (8+ RGBD cameras; top mounted 3D lidar) so this is a wonderful addition for those with dead areas in the sensor FOV due to self-collision or similar.
And as always, a wonderful video! In orange, you an see the annotated occluded cells so that they do not decay. Again, thanks to Remco for this great illustrative video.
Want to check out all the latest and greatest in STVL, check out the github repo!
Happy occluding,
Steve