fix(landmark_manager): adjust volume threshold (#7147)

YamatoAndo · web-flow · commit b6c548f229c7 · 2024-05-28T08:06:40.000Z
adjust volume threshold

Signed-off-by: Yamato Ando &lt;yamato.ando@tier4.jp&gt;
diff --git a/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp
@@ -50,7 +50,7 @@ void LandmarkManager::parse_landmarks(
     const auto & v2 = vertices[2];
     const auto & v3 = vertices[3];
     const double volume = (v1 - v0).cross(v2 - v0).dot(v3 - v0) / 6.0;
-    const double volume_threshold = 1e-5;
+    const double volume_threshold = 1e-3;
     if (volume > volume_threshold) {
       continue;
     }

Original file line number	Diff line number	Diff line change
`@@ -50,7 +50,7 @@ void LandmarkManager::parse_landmarks(`
`50`	`50`	`const auto & v2 = vertices[2];`
`51`	`51`	`const auto & v3 = vertices[3];`
`52`	`52`	`const double volume = (v1 - v0).cross(v2 - v0).dot(v3 - v0) / 6.0;`
`53`		`- const double volume_threshold = 1e-5;`
	`53`	`+ const double volume_threshold = 1e-3;`
`54`	`54`	`if (volume > volume_threshold) {`
`55`	`55`	`continue;`
`56`	`56`	`}`