Fix leg probabilities, see wg-perception#101

stwirth · Apr 20, 2023 · c41ef4e · c41ef4e
1 parent ab5309b
commit c41ef4e
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/leg_detector/src/leg_detector.cpp b/leg_detector/src/leg_detector.cpp
@@ -731,9 +731,9 @@ class LegDetector
 
       memcpy(tmp_mat.data, f.data(), f.size()*sizeof(float));
 
-      float probability = 0.5 -
-                          forest->predict(tmp_mat, cv::noArray(), cv::ml::RTrees::PREDICT_SUM) /
-                          forest->getRoots().size();
+      float probability = 0.5 + 0.5 *
+                          static_cast<float>(forest->predict(tmp_mat, cv::noArray(), cv::ml::RTrees::PREDICT_SUM)) /
+                          static_cast<float>(forest->getRoots().size());
 
       tf::Stamped<tf::Point> loc((*i)->center(), scan->header.stamp, scan->header.frame_id);
       try