As long as voxblox doesn't provide mapping of dynamic environments by default esdf_server node from this issue I learnt that it's possible to enable use_freespace_pointcloud parameter in order to try to remove voxels that are not present anymore.
At the moment I only have a pointcloud generated from RGB-D image that is published to voxblox's pointcloud topic.
The question:
Is there a way to generate freespace point cloud from rgb-d or existing point cloud?
As long as voxblox doesn't provide mapping of dynamic environments by default esdf_server node from this issue I learnt that it's possible to enable use_freespace_pointcloud parameter in order to try to remove voxels that are not present anymore. At the moment I only have a pointcloud generated from RGB-D image that is published to voxblox's pointcloud topic.
The question: Is there a way to generate freespace point cloud from rgb-d or existing point cloud?