Am 12.04.19 um 19:12 schrieb MacCallister Higgins:
> Armin, shouldn't it be the opposite? The ground end cells included,
> while not using the rays for clearing? Otherwise you lose all ground
> points, which are part of the map. I've experimented with giving an
> offset to the ray, so that it only clears cells for the first 75% of
> the ray (measured from the sensor to the ground), which somewhat helps
> with erroneous ground removal, but it still struggles.
The ground filter in octomap_server was used for obstacle maps for
mobile robots, so anything except the ground was included. Yet the rays
had be used for clearing, otherwise obstacles would persist.
Something similar could be used when only certain obstacle points are of
interest (within a bounding box / within a maximum range). Points
outside should still be used for clearing rays within the bounding box