hollow without inflation_layer

[sun421-cloud]

hello, i use the humble version of the plugin in the nav2_costmap_2d without inflation_layer. There are some holes in point cloud updates, as shown in the figure below:

The green dots represent the point clouds in pc_3d_map_global_, and the purple dots represent point clouds of the latest frame.
In addition, the purple dots is not be put in pc_3d_map_global_ completely, especially the point clouds near the robot.

[tsengapola]

Hi, can you show me the camera_link tf and also the frustums. I can not see things clear from your figure.
And also annotate purple pc and green pc on your figure.