Merge pull request PointCloudLibrary#4181 from koide3/ndt-bugfix

[registration] Fix bug in NDT step interval convergence criteria
levi-2020 · Jun 23, 2020 · eea8e7d · eea8e7d
2 parents ddf215e + baf413b
commit eea8e7d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/registration/include/pcl/registration/impl/ndt.hpp b/registration/include/pcl/registration/impl/ndt.hpp
@@ -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);