ipleiria-robotics / cupreds_ros Goto Github PK

The usage of raw pointers is leading to potential memory leaks. Changing to smart pointers eases the process of freeing memory and prevents memory leaks.

The current iteration is using color-less points. Change to colored points, to enhance the visual recognition of the space from the pointcloud, and also this information could be used by some SLAM algorithm.

The publish rate and max age concept is a bit confusing and may not make sense to the users. Should change this.
The current approach is discarding point cloud older than "max age".

The proposed implementation is creating a "frequency" of "period" configuration, and at each cycle consider only the pointclouds received since the last cycle.

The "max age" configuration remains with the same purpose.

The rerojection of RGB-D cameras was started, but the data didn't seem to make a lot of sense.
It could be interesting to see this issue fixed, as it further increases the possibilities of combining different visual sensors into a single pointcloud.