Any working example on clearing dynamic object?

[evertale888]

Hello guys. Im quite new at using this library & im using it to build an octomap of the pointcloud obtained from rgbd camera. Just to clarify, im not using the ros version. Now, when i build octomap, i noticed that, the dynamic objects are built along with its movement. Its become like a snake & are also fixed in the octomap. How can i remove this dynamic build & retain only the static one? or clear the area where there are no more dynamic object in it? Is there any working example c++ that i can refer to? Any helps are appreciated.

[Kin-Zhang]

I have implemented one: https://github.com/Kin-Zhang/octomap which is based on octomap, you can check the effect on README (right two are octomap output static map in point-level or voxel-level):