inFuse

h1. 01/23 - Discussion on PoM 

*Participants:* 

Quentin, Simon

*Goal of the meeting:* Discuss the general state of the processing we want to showcase in sprint 1 and more precisely the problems we might encounter on PoM.

h2. General chain discussion

Ellon and I have been working on providing the right types of data to the DEM module. At the moment the chain from MORSE to the DEM module looks like this:

!existing_chain.png!

With:

* *Fake velodyne*: take as input the pointclouds produced by velodyne, aggregates them into one point cloud, and associate the pose of the robot to it.

* *Point cloud pose stamped* is a data structure defined in IDL for genom3 module from which we can build the DEM

ATM: *No POM*. What we would like is the following :

!wanted_chain.png!

This includes:

* *Changing fake velodyne* : makes it quite a bit harder as this means Ellon needs to "rewrite TF" and keep changes in pose in memory in order to aggregate properly when the robot moves

* *Accepting some