Comments (2)
ahornung
commented on June 28, 2024
I think there are valid use cases for both scenarios. Ideally, there is a parameter for the filter frame.
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mohdomama
commented on June 28, 2024
Hi,
Thanks for the reply. Should I add a parameter for this?
Also, when doing filtering with filter_ground as false, the points outside the filter are not cleared. This issue is apparent when we have dynamic objects in the scene. The entire trail of the object comes as occupied.
I addressed this issue in the PR by marking the points outside the filter as pc_ground which then get cleared in insertScan function. Is this approach acceptable or should there be some other workaround for this?
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