Improve cache ram usage

Author: mertgulerx

include/frontier_exploration_ros2/debug/debug_analyzer.hpp

@@ -117,6 +117,8 @@ struct FrontierDebugSnapshot
   std::size_t decision_map_total_chunks{0};
   std::size_t decision_map_dirty_chunks{0};
   bool decision_map_geometry_changed{false};
+  DecisionMapGeometryTransition decision_map_geometry_transition{
+    DecisionMapGeometryTransition::FullRebuildFallback};
   bool decision_map_config_changed{false};
   bool decision_map_output_reused{false};
   bool decision_map_output_changed{false};

include/frontier_exploration_ros2/debug/debug_markers.hpp

@@ -72,8 +72,8 @@ visualization_msgs::msg::MarkerArray make_dp_pruning_markers(
   const DebugMarkerConfig & config);
 
 // Decision-map chunk-cache overlay. Green borders mean raw chunk cache hit,
-// red borders mean that chunk was rebuilt, and yellow borders mark geometry
-// reset/full rebuild events such as map growth or origin changes.
+// red borders mean that chunk was rebuilt, and yellow borders mark true
+// full-rebuild fallbacks when geometry reuse was not possible.
 visualization_msgs::msg::MarkerArray make_decision_map_chunk_cache_markers(
   const FrontierDebugSnapshot & snapshot,
   const DebugMarkerConfig & config);

include/frontier_exploration_ros2/decision_map.hpp

@@ -104,7 +104,8 @@ struct DecisionMapResult
 enum class DecisionMapGeometryTransition : uint8_t
 {
   SameGeometry = 0,
-  GrowthReuse = 1,
+  OverlapReuse = 1,
+  GrowthReuse = OverlapReuse,
   FullRebuildFallback = 2,
 };
 
@@ -136,12 +137,9 @@ struct DecisionMapWorkspace
   double last_build_sigma_r{30.0};
   int last_build_dilation_radius_cells{1};
 
-  // Images for the current raw input, staging copy, and optimization outputs.
+  // Images for the current raw input and optimization outputs.
   PaperImage raw_image;
-  PaperImage raw_scratch_image;
-  std::vector<float> filtered_image;
   PaperImage threshold_image;
-  PaperImage optimized_image;
   PaperImage dilation_scratch;
 
   // Cached raw occupancy values and chunk metadata for chunk-aware dirty detection.

src/debug/debug_analyzer.cpp

@@ -204,6 +204,7 @@ void annotate_decision_map_cache(
   snapshot.decision_map_total_chunks = decision_map_status.total_chunks;
   snapshot.decision_map_dirty_chunks = decision_map_status.dirty_chunks;
   snapshot.decision_map_geometry_changed = decision_map_status.geometry_changed;
+  snapshot.decision_map_geometry_transition = decision_map_status.geometry_transition;
   snapshot.decision_map_config_changed = decision_map_status.config_changed;
   snapshot.decision_map_output_reused = decision_map_status.reused_existing_output;
   snapshot.decision_map_output_changed = decision_map_status.output_changed;
@@ -219,7 +220,10 @@ void annotate_decision_map_cache(
       DecisionMapChunkDebugCell cell;
       cell.chunk_x = chunk_x;
       cell.chunk_y = chunk_y;
-      if (decision_map_status.geometry_changed) {
+      if (
+        decision_map_status.geometry_changed &&
+        decision_map_status.geometry_transition == DecisionMapGeometryTransition::FullRebuildFallback)
+      {
         cell.state = DecisionMapChunkDebugState::GeometryReset;
       } else if (
         chunk_index < decision_map_workspace.dirty_chunk_flags.size() &&

src/debug/debug_markers.cpp

@@ -265,6 +265,20 @@ std_msgs::msg::ColorRGBA mrtsp_rank_color(std::size_t rank, std::size_t total)
   return rgba(0.15F + (0.85F * t), 0.9F - (0.55F * t), 0.25F, 0.9F);
 }
 
+std::string geometry_transition_label(DecisionMapGeometryTransition transition)
+{
+  switch (transition) {
+    case DecisionMapGeometryTransition::SameGeometry:
+      return "same";
+    case DecisionMapGeometryTransition::OverlapReuse:
+      return "overlap_reuse";
+    case DecisionMapGeometryTransition::FullRebuildFallback:
+      return "full_rebuild";
+  }
+
+  return "unknown";
+}
+
 }  // namespace
 
 visualization_msgs::msg::MarkerArray make_raw_frontier_markers(
@@ -649,9 +663,13 @@ visualization_msgs::msg::MarkerArray make_decision_map_chunk_cache_markers(
           << "\nhit=" << hit_count
           << " dirty=" << dirty_count
           << " reset=" << reset_count
+          << "\ngeometry=" << geometry_transition_label(snapshot.decision_map_geometry_transition)
           << "\noutput=" << (snapshot.decision_map_output_reused ? "hit" : "miss")
           << " changed=" << (snapshot.decision_map_output_changed ? "yes" : "no");
-  if (snapshot.decision_map_geometry_changed) {
+  if (
+    snapshot.decision_map_geometry_changed &&
+    snapshot.decision_map_geometry_transition == DecisionMapGeometryTransition::FullRebuildFallback)
+  {
     summary << "\ngeometry_reset=yes";
   } else if (snapshot.decision_map_config_changed) {
     summary << "\nconfig_rebuild=yes";