ryzhikovas

@SteveMacenski, thanks for the detailed answer! Small note: using OpenCV does not require copying the costmap. The `cv::Mat` constructor allows you to wrap an existing memory buffer. I agree with...

If that's okay, I'll remove OpenCV. The pair (`erosion` -> `dilation`) appears to be a destructive transformation. As shown in the picture below, it makes the boundaries of obstacles coarser....

@SteveMacenski, in the last commit I removed openCV. The code is not ready yet, it will be improved and made cleaner. But before that, the question: it is really necessary...

I suggest an alternative in this pull request :) This solution removes groups of obstacles smaller than the specified size. By size, I mean the size of a group of...

Made a small benchmark in which I run denoise on AWS Warehouse. I checked how long it takes to process the original and noisy (uniform additive noise) global map. Hardware:...

I would like to point out that I took up this task without ever using ROS before. At the beginning of work on the PR, I did not discuss it...

I think the code is now ready for review. Probably, some lines are not well commented yet, but which ones - it will be best clear after the review. @AlexeyMerzlyakov,...

Until December 16th I am on vacation with poor internet connection. I hope to commit the modified code no later than December 20.

> For header-files, not sure whether it is critical, just for check-up:  Since these files are header-implementation containing ones, I think this should be some attention...

I apologize for the long delay. The job began to take both work and personal time.