i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed Icp/CorrespondenceRatio not updated if set in parameters for proximity detection

Browse Source
This commit is contained in:
matlabbe
2019-01-21 16:55:38 -05:00
parent c13267599e
commit f50018776f
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/src/Memory.cpp
View File

@@ -652,7 +652,7 @@ void Memory::parseParameters(const ParametersMap & parameters)
float corRatio = Parameters::defaultIcpCorrespondenceRatio();
Parameters::parse(parameters, Parameters::kIcpCorrespondenceRatio(), corRatio);
ParametersMap paramsMulti = params;
paramsMulti.insert(ParametersPair(Parameters::kIcpCorrespondenceRatio(), uNumber2Str(corRatio>=0.5f?1.0f:corRatio*2.0f)));
uInsert(paramsMulti, ParametersPair(Parameters::kIcpCorrespondenceRatio(), uNumber2Str(corRatio>=0.5f?1.0f:corRatio*2.0f)));
if(corRatio >= 0.5)
{
UWARN( "%s is >=0.5, which sets correspondence ratio for proximity detection using "