avoid copying of data when dealing with observations #1138
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dorezyuk
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Hey,
I've noticed that we create a deep copy of the point clouds every time we are querying to get the observations. I've exchanged the raw pointer to a const shared pointer (we do not modify the observations).
Additionally I've changed the box-filter algorithm to work without an additional buffer.
The changes reduced the CPU load of a mbf-node (just running the voxel layer) on my system by ~7% (its not much, but...)
Best,
Dima