Code for median filter. Untested.
Median filter makes and runs. Unsure whether it works.
Median filter running (perhaps even working).
Launch file that makes octomap mapping work with an RGBD sensor (Asus Xtion).
Octrees! Before, it saved octrees, but now it is broken.
The node reprojectImage now grabs stuff from a bag file.
Can reprojectImage with downsampling!
Merge https://github.com/OSUrobotics/privacy-interfaces into median