add parameters for pointcloud filtering

mitukou1109 · May 8, 2024 · 1c5c362 · 1c5c362
1 parent a26f6b7
commit 1c5c362
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/...g/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml
@@ -74,6 +74,12 @@
     behavior_determination:
       use_pointcloud: false
       pointcloud_search_radius: 5.0
+      pointcloud_voxel_grid_x: 0.05
+      pointcloud_voxel_grid_y: 0.05
+      pointcloud_voxel_grid_z: 100000.0
+      pointcloud_cluster_tolerance: 1.0
+      pointcloud_min_cluster_size: 1
+      pointcloud_max_cluster_size: 100000
 
       decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking