Confidence interval during robot motion

[aled96]

If I understood the framework correctly, a confidence value is kept while your robot is moving. Should we see these data in the uncertainty layer of the map, representing the last data seen as more "confident" and old data (i.e. behind the sensor) as less "confident"?

Is this correct? How can I enable this feature?

Currently, when I move the robot the uncertainty map just shows the data that was seen with maximum confidence, no matter the age of the data and zero confidence in the data obtained through inpaint filtering.

Thanks!