[octomap_server] Filtering In Map Frame

[mohdomama]

Hi,
With filter_ground as false, the filtering done with pointcloud_min_z and pointcloud_max_z happens in the map frame. I think the desired behavior would be to do this filtering in base_link frame.

Note: When filter_ground is true, all filtering happens in base_link frame.

octomap_mapping/octomap_server/src/OctomapServer.cpp

Line 330 in bd66bc1

pcl::transformPointCloud(pc, pc, sensorToWorld);

[ahornung]

I think there are valid use cases for both scenarios. Ideally, there is a parameter for the filter frame.

[mohdomama]

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?