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[fix] Fix Edge keypoint selection

Arthur Bourbousson requested to merge fix/MinNeighRadius into master
  • Bug symptoms :

In some case, the SLAM was taking invalid edge keypoints on the ground on the closest scan lines.

  • Explanation :

The minimum radius was not taken into account and the left and right lines could have less than 2cm which is in the noise range and not suitable to look for geometric intersections.

  • Solve :

The problem was MinNeighRadius SLAM variable had a wrong type and so a wrong value. Making it a float and setting it at 10cm fixes it.

Edited by Julia Sanchez

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