Of course. Filters do wonders - but they're still not a panacea. You also get the covariance across that filter. Which means you still need to decide how muc

Of course. Filters do wonders - but they're still not a panacea. You also get the covariance across that filter. Which means you still need to decide how much to cut, whether or not to reject as rain, dust or a reflection, whether to trust your reflections under a certain reflectivity value. Data helps with this, but, as always, there's a ton of corner cases.