Question about pointcloud filtering

[AlessandroCammalleri]

Hello to everyone and thanks for your work.

i am facing a filtering problem regarding dense pointcloud on Nuscenes dataset (driving vehicle) images. the setup i have is 5 cameras mounted on the vehicle (3 in front and one for each side) When i compute DensifyPointcloud with default parameters values i get filtered pointcloud but the street is filtered out. Since i want to mantain the reconstruction of the road i find out that using --postprocess-dmaps to 2, i get the road, but i get a lot of noise, including sky points.
This is the filtered, but no road.

And these are the ones not filtered.

Any suggestion? Thank you in advance