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[registration] Fix bug in NDT step interval convergence criteria #4181

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Jun 23, 2020
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[registration] Fix bug in NDT step interval convergence criteria #4181

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2 changes: 1 addition & 1 deletion registration/include/pcl/registration/impl/ndt.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -636,7 +636,7 @@ NormalDistributionsTransform<PointSource, PointTarget>::computeStepLengthMT (con
double g_u = auxilaryFunction_dPsiMT (d_phi_0, d_phi_0, mu);

// Check used to allow More-Thuente step length calculation to be skipped by making step_min == step_max
bool interval_converged = (step_max - step_min) > 0, open_interval = true;
bool interval_converged = (step_max - step_min) < 0, open_interval = true;

double a_t = step_init;
a_t = std::min (a_t, step_max);
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