From 3cb3524aa2f961d16d983fc0ca42b65c39a0df37 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 11 Mar 2016 20:13:24 -0500
Subject: [PATCH] RegistrationICP: adjusting maxLaserScans if voxel filtering
 is done

---
 corelib/src/RegistrationIcp.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/corelib/src/RegistrationIcp.cpp b/corelib/src/RegistrationIcp.cpp
index 887600d2..a8bc3aef 100644
--- a/corelib/src/RegistrationIcp.cpp
+++ b/corelib/src/RegistrationIcp.cpp
@@ -187,9 +187,13 @@ Transform RegistrationIcp::computeTransformationImpl(
 				if(_voxelSize > 0.0f)
 				{
 					fromCloudFiltered = util3d::voxelize(fromCloudFiltered, _voxelSize);
+					int pointsBeforeFiltering = toCloudFiltered->size();
 					toCloudFiltered = util3d::voxelize(toCloudFiltered, _voxelSize);
 					filtered = true;
 					UDEBUG("Voxel filtering time (voxel=%f m) = %f s", _voxelSize, timer.ticks());
+
+					//Adjust maxLaserScans
+					maxLaserScans = maxLaserScans * toCloudFiltered->size() / pointsBeforeFiltering;
 				}
 
 				bool correspondencesComputed = false;