From cf76a0ffcfd328982f15127bcf7a77e621945c41 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 26 Jun 2024 16:50:56 +0200
Subject: [PATCH] hotfix
---
src/icp.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/icp.cpp b/src/icp.cpp
index 066786e..b32b581 100644
--- a/src/icp.cpp
+++ b/src/icp.cpp
@@ -218,7 +218,7 @@ icpOutput ICP::align(const LaserScan &_current_ls,
{
std::cout << "Invalid result, trying again!" << std::endl;
}
- if (_icp_params.verbose and not result.valid and result.attempts < _icp_params.icp_attempts)
+ if (_icp_params.verbose and result.error > _icp_params.restart_threshold_mean_error and result.attempts < _icp_params.icp_attempts)
{
std::cout << "Error too big: " << result.error
<< " ( should be < "
--
GitLab