Where to Integrate a body filter into custom build

[spelletier1996]

I would like to integrate a body filter into rtabmap in a custom fork, the body filter will take in the most recent point cloud frame, remove the body points and then return a filtered cloud. Ideally this would work for both the point cloud generated by a stereo camera input and the a direct scan cloud input.

Could someone point me towards were in the source this would be best implemented? Or at the very least which where the best places to get started to understand the flow data flow from input scan_cloud or stereo_images to point cloud being served to the algos for mapping.