From 947cae335b287c5da6858f6de6901cf8dbcc88d0 Mon Sep 17 00:00:00 2001
From: tizianoGuadagnino <frevo93@gmail.com>
Date: Tue, 12 Nov 2024 12:10:40 +0100
Subject: [PATCH] Remove ternary operator and make the two functions consistent

---
 .../correspondence_threshold/CorrespondenceThreshold.cpp      | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.cpp b/cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.cpp
index 73f3bf8..a1fa59c 100644
--- a/cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.cpp
+++ b/cpp/kinematic_icp/correspondence_threshold/CorrespondenceThreshold.cpp
@@ -47,9 +47,11 @@ CorrespondenceThreshold::CorrespondenceThreshold(const double map_discretization
       num_samples_(1e-8) {}
 
 double CorrespondenceThreshold::ComputeThreshold() const {
+    if (!use_adaptive_threshold_) return fixed_threshold_;
+
     const double moder_error_variance = std::sqrt(model_sse_ / num_samples_);
     const double adaptive_threshold = 3.0 * (map_discretization_error_ + moder_error_variance);
-    return use_adaptive_threshold_ ? adaptive_threshold : fixed_threshold_;
+    return adaptive_threshold;
 }
 
 void CorrespondenceThreshold::UpdateModelError(const Sophus::SE3d &current_deviation) {