TSDF Weight Update

Problem

Fuse a new signed-distance measurement into a TSDF voxel.

The running average is (value * weight + obs) / (weight + 1), with the weight incremented by 1 and capped at max_weight. Return [value, weight] rounded to 4 decimal places.

Hint

Long observation sequences keep refining the mean until the weight saturates.

Test cases

case 1

in: [0,0,0.5,10]

expected: [0.5,1]

case 2

in: [1,1,0,10]

expected: [0.5,2]

case 3

in: [0.2,4,0.4,4]

expected: [0.24,4]

case 4

in: [0,0,0,1]

expected: [0,1]

Starter codePython

def tsdf_update(value, weight, obs, max_weight):
    # Your code here
    pass

4 test cases · run your code against them in the editor