Why detect people in the cloud named "filtered"?

[FishInWave]

Hi, @koide3 In apps/hdl_people_detection_nodelet.cpp, there are codes as:

    auto filtered = backsub->filter(cloud);
    auto clusters = detector->detect(filtered);

And it seems to detect people in the filtered cloud that only contains voxels with less than "occupy_thresh "(default value is 2). May I ask what assumptions they are based on？