From 1bbc440f4d458ef6fe3cd3fed72a2559938766cf Mon Sep 17 00:00:00 2001 From: Evan Huang Date: Mon, 9 Dec 2024 17:18:34 +0800 Subject: [PATCH] Tweak sampling parameters --- .../random_downsample_filter.param.yaml | 2 +- .../pointcloud_preprocessor/voxel_grid_filter.param.yaml | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml index 53be849e0a..5365f83708 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/random_downsample_filter.param.yaml @@ -1,3 +1,3 @@ /**: ros__parameters: - sample_num: 1500 + sample_num: 2000 diff --git a/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml index 51a7ee9d89..e3ef1f83a0 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/pointcloud_preprocessor/voxel_grid_filter.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - voxel_size_x: 3.0 - voxel_size_y: 3.0 - voxel_size_z: 3.0 + voxel_size_x: 0.1 + voxel_size_y: 0.1 + voxel_size_z: 0.1