From ea796ab719b6e73363592723e443256cc5056b54 Mon Sep 17 00:00:00 2001
From: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp>
Date: Wed, 8 May 2024 19:30:12 +0900
Subject: [PATCH] Fix prob (apply #101)

---
 leg_detector/src/leg_detector.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/leg_detector/src/leg_detector.cpp b/leg_detector/src/leg_detector.cpp
index 31ed9bcc..21be2f9c 100644
--- 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 -
+      float probability = 0.5 - 0.5 *
                           forest->predict(tmp_mat, cv::noArray(), cv::ml::RTrees::PREDICT_SUM) /
-                          forest->getRoots().size();
+                          static_cast<float>(forest->getRoots().size());
 
       tf::Stamped<tf::Point> loc((*i)->center(), scan->header.stamp, scan->header.frame_id);
       try