avoid adjusting thresholds if success history size is 0

nasa · Jul 2, 2024 · 4a29e63 · 4a29e63
1 parent 07e874a
commit 4a29e63
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/astrobee/config/localization.config b/astrobee/config/localization.config
@@ -46,7 +46,7 @@ brisk_too_many_ratio = 1.25
 brisk_too_few_ratio = 0.8
 brisk_detection_retries = 1
 -- Localizer Threshold Params
-brisk_success_history_size = 10
+brisk_success_history_size = 0
 brisk_min_success_rate = 0
 brisk_max_success_rate = 1
 brisk_adjust_num_similar = false

diff --git a/localization/localization_node/src/localization.cc b/localization/localization_node/src/localization.cc
@@ -155,6 +155,7 @@ bool Localizer::Localize(cv_bridge::CvImageConstPtr image_ptr, ff_msgs::VisualLa
 }
 
 void Localizer::AdjustThresholds() {
+  if (successes_.size() == 0 || params_.success_history_size == 0) return;
   if (successes_.size() < params_.success_history_size) return;
   while (successes_.size() > params_.success_history_size) {
     successes_.pop_front();