Using Patchwork++ for Stereo Depth?

[mattm8600]

Hi,

I'm implementing Patchwork++ into my stereo depth pipeline. It's a really impressive algorithm! But ... I'm getting a lot of false negatives on the ground plane. I understand that Patchwork is written for lidar, but does anyone have any success using it on stereo depth point clouds? Any ideas on what to change from default parameters to achieve better performance with stereo?

For example, I am consistently getting a ring of false positives around the origin. Anyone ran into this?