fix: tuning ground segmentation

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
badai-nguyen · Jan 30, 2024 · 8366335 · 8366335
1 parent ac0b44b
commit 8366335
Showing 1 changed file with 0 additions and 2 deletions.
diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp
@@ -400,8 +400,6 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan(
         p->radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * p->grid_size) {
         checkContinuousGndGrid(*p, gnd_grids);
 
-      } else if (p->radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * p->grid_size) {
-        checkDiscontinuousGndGrid(*p, gnd_grids);
       } else {
         checkBreakGndGrid(*p, gnd_grids);
       }