Merge pull request #2574 from yukkysaito/master

Bugfix miscalculation of quantile of KLD
PointCloudLibrary · Oct 23, 2018 · 521a3ac · 521a3ac
2 parents b3e73d4 + aaa6874
commit 521a3ac
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/tracking/include/pcl/tracking/kld_adaptive_particle_filter.h b/tracking/include/pcl/tracking/kld_adaptive_particle_filter.h
@@ -139,9 +139,9 @@ namespace pcl
         if (u == 0.)
           return (0.5);
         y = u / 2.0;
-        if (y < -6.)
+        if (y < -3.)
           return (0.0);
-        if (y > 6.)
+        if (y > 3.)
           return (1.0);
         if (y < 0.0)
           y = - y;