void dlio::OdomNode::setAdaptiveParams函数逻辑似乎有点奇怪

[Anykaka]

void dlio::OdomNode::setAdaptiveParams() {

  // Spaciousness
  float sp = this->metrics.spaciousness.back();

  if (sp < 0.5) { sp = 0.5; }
  if (sp > 5.0) { sp = 5.0; }

  this->keyframe_thresh_dist_ = sp;

  // Density
  float den = this->metrics.density.back();

  if (den < 0.5*this->gicp_max_corr_dist_) { den = 0.5*this->gicp_max_corr_dist_; }
  if (den > 2.0*this->gicp_max_corr_dist_) { den = 2.0*this->gicp_max_corr_dist_; }

  if (sp < 5.0) { den = 0.5*this->gicp_max_corr_dist_; };
  if (sp > 5.0) { den = 2.0*this->gicp_max_corr_dist_; };

  this->gicp.setMaxCorrespondenceDistance(den);

  // Concave hull alpha
  this->concave_hull.setAlpha(this->keyframe_thresh_dist_);

}

density(den)的调整逻辑上似乎存在问题， if (sp < 5.0) { den = 0.5*this->gicp_max_corr_dist_; }; if (sp > 5.0) { den = 2.0*this->gicp_max_corr_dist_; };导致den只有两个值，且因为sp最开始约束后不存在>5.0可能，最终den只有在sp大于等一5.0时约束是有效的，否则只能取最小。
是我理解有问题吗？？？