diff --git a/src/polygon_filter.cpp b/src/polygon_filter.cpp
index e00258d..3edf976 100644
--- a/src/polygon_filter.cpp
+++ b/src/polygon_filter.cpp
@@ -273,6 +273,7 @@ bool LaserScanPolygonFilterBase::configure()
   param_config.invert = invert_filter_;
   dyn_server_->updateConfig(param_config);
 
+  // Calling setCallback(f) here calls reconfigureCB() which updates the polygon padding.
   dyn_server_->setCallback(f);
 
   polygon_pub_ = private_nh.advertise<geometry_msgs::PolygonStamped>("polygon", 1, true);
@@ -547,4 +548,4 @@ void StaticLaserScanPolygonFilter::reconfigureCB(laser_filters::PolygonFilterCon
   is_polygon_transformed_ = false;
   LaserScanPolygonFilterBase::reconfigureCB(config, level);
 }
-}
\ No newline at end of file
+}