Starting the cleaning of the code in order to add new features
Modified the description of the repository
Solved problem with visualization of particles
Updated the prediction step
Modified the way in which particles are resampled, attending to their age. Particles are sorted, in order to improve the mainVector generation
Improved the way in which main vectors are computed, as well as their visualization
Added 3d optical flow tracker in the launch file
Added synchronization between transformation changes and point cloud changes
Extended synchronization to include an optical flow point cloud as input.
Static particles instead of random ones are used in the initialization stage
Since particles are generated statically, the measuredBasedUpdate can be simplified.
Object segmentation is now done using just the position information of each voxel, not their motion information
Now obstacles' speed is computed from all the particles contained in it. We are not using voxel main vectors anymore, so we improve the results and the achieved speed.