chore(dummy_perception_publisher): change raytrace param

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
autowarefoundation · Feb 18, 2022 · a977252 · a977252
1 parent 0e70c77
commit a977252
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
@@ -180,7 +180,9 @@ void DummyPerceptionPublisherNode::timerCallback()
       new pcl::PointCloud<pcl::PointXYZ>);
     pcl::VoxelGridOcclusionEstimation<pcl::PointXYZ> ray_tracing_filter;
     ray_tracing_filter.setInputCloud(merged_pointcloud_ptr);
-    ray_tracing_filter.setLeafSize(0.25, 0.25, 0.25);
+    // above this value raytrace won't be as expected
+    const double leaf_size = 0.02;
+    ray_tracing_filter.setLeafSize(leaf_size, leaf_size, leaf_size);
     ray_tracing_filter.initializeVoxelGrid();
     for (size_t i = 0; i < v_pointcloud.size(); ++i) {
       pcl::PointCloud<pcl::PointXYZ>::Ptr ray_traced_pointcloud_ptr(