The corresponding problem between csf filtered point cloud and original point cloud

[cama36]

Hello, I want to know the correspondence between the point cloud filtered by csf and the original point cloud. For example, there are 40120 points obtained after csf filtering. Which of these points correspond to among the 81000 points in the original point cloud? How should I modify the code to get the result I want?

[jianboqi]

Hello, when you perform the ground filtering, you can get a list of indices of ground points with the following code:
ground = CSF.VecInt() # a list to indicate the index of ground points after calculation
non_ground = CSF.VecInt() # a list to indicate the index of non-ground points after calculation
csf.do_filtering(ground, non_ground) # do actual filtering.

The array ground contains the index in the original 81000 points.