How to Run DUFOMap in Online Mode?

[windzu]

Hello,

First of all, thank you for your open-source work! I followed your tutorial and tested with custom data, achieving good results.

However, my use case is quite different. I noticed in your documentation that DUFOMap supports online usage, which is exactly what I need.

My understanding of online mode is that the system can build and output the map in real-time based on incoming point cloud data, whereas offline mode means reading all point cloud data at once and then generating a final map.

Based on the provided code, it seems like only the offline implementation is available, and I couldn't find an online version.

So my question is:
How can I perform online testing using the existing code?

Additionally, in online mode, is the map able to update dynamically for objects that are initially stationary but start moving later? For example, a car waiting at a traffic light that eventually moves?

My goal with this method is to achieve real-time representation of static obstacles using only LiDAR. Then, by integrating an obstacle detection model, I could identify dynamic obstacles, potentially creating a more robust LiDAR perception system.

What are your thoughts on this approach?

Looking forward to your response!

Best regards