Fixing some flaws in gain calculation

ethz-asl / nbvplanner

A real-time capable exploration and inspection path planner (next best view planning)

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Fixing some flaws in gain calculation #10

Closed birchera closed 7 years ago

birchera commented 7 years ago

Fixes #9.

@johuber can you check that this fixes the issues you found?

I checked that it compiles but don't have a clean setup to run it right now. It will take me a few days to be able to test it, unless you could do that @johuber.

johuber commented 7 years ago

@birchera Yes, these are exactly the changes I suggested. I used this code fragment for visibility computation within a Octomap and it gives me correct results now. However, since I am not directly using the NBVP I also do not have a clean setup to run the NBVP and test it within there.