Transformations bring mistakes in estimation

[Zero-Yi]

Hi,

thank you for this great work. But I would like to share an interesting thing:
It cannot handle the ground correctly if we transform the points from the ego frame to the world frame.
(Left: transformed; Right: not transformed)

You can see there is a red circle in the left pic.

Is this supposed to be so, like by design we should transform the points to the ego frame first?
PS. Do you think it is possible to improve this since it sounds reasonable that a tranform of a scan on the x-y plane should not make a difference in the ground removal.

Best,
Zinuo

[LimHyungTae]

It may affect the changes of z values. Btw, why don't you run ground segmentation first before transformation?