From 1272331b57532fa4972485916cc764acea0da90f Mon Sep 17 00:00:00 2001 From: Hirokazu Ishida Date: Thu, 7 Apr 2022 05:21:01 +0900 Subject: [PATCH] Tune parameter --- .../dummy_perception_publisher/signed_distance_function.hpp | 2 +- .../dummy_perception_publisher/src/signed_distance_function.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp index 81e03b61d5710..85cc4a6387472 100644 --- a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp +++ b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/signed_distance_function.hpp @@ -30,7 +30,7 @@ class AbstractSignedDistnaceFunction public: virtual double operator()(double x, double y) const = 0; double getSphereTracingDist( - double x_start, double y_start, double angle, double eps = 1e-3) const; + double x_start, double y_start, double angle, double eps = 1e-2) const; virtual ~AbstractSignedDistnaceFunction() {} }; diff --git a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp index d1f11b349acad..e364c085dd29b 100644 --- a/simulator/dummy_perception_publisher/src/signed_distance_function.cpp +++ b/simulator/dummy_perception_publisher/src/signed_distance_function.cpp @@ -28,7 +28,7 @@ double AbstractSignedDistnaceFunction::getSphereTracingDist( // https://computergraphics.stackexchange.com/questions/161/what-is-ray-marching-is-sphere-tracing-the-same-thing/163 tf2::Vector3 direction(cos(angle), sin(angle), 0.0); - const size_t max_iter = 20; + const size_t max_iter = 40; const auto pos_start = tf2::Vector3(x_start, y_start, 0.0);