fix: relax recheck threshold

tier4 · Oct 30, 2024 · a8612b2 · a8612b2
1 parent 4fb0d67
commit a8612b2
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
@@ -404,9 +404,11 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan(
       // move to new grid
       if (p->grid_id > prev_p->grid_id && ground_cluster.getAverageRadius() > 0.0) {
         // check if the prev grid have ground point cloud
+        constexpr float threshold_multiplier = 2.0f;
         if (use_recheck_ground_cluster_) {
           recheckGroundCluster(
-            ground_cluster, non_ground_height_threshold_, use_lowest_point_, out_no_ground_indices);
+            ground_cluster, non_ground_height_threshold_ * threshold_multiplier, use_lowest_point_,
+            out_no_ground_indices);
         }
         curr_gnd_grid.radius = ground_cluster.getAverageRadius();
         curr_gnd_grid.avg_height = ground_cluster.getAverageHeight();