add param so relocalization also works with 2D lidars

mrpt-ros-pkg · Apr 29, 2024 · e273164 · e273164
1 parent 5a9b51e
commit e273164
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/mrpt_pf_localization/params/default-relocalization-pipeline.yaml b/mrpt_pf_localization/params/default-relocalization-pipeline.yaml
@@ -58,5 +58,6 @@ relocalization_observation_pipeline:
     input_pointcloud_layer: 'raw'
     output_pointcloud_layer: 'decimated_for_icp'
     voxel_filter_resolution: 1.5 # [m]
+    minimum_input_points_to_filter: 1000  # don't decimate simpler 2D scans, etc.
     decimate_method: DecimateMethod::FirstPoint
     #decimate_method: DecimateMethod::ClosestToAverage