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Localization with Reg/Force3DoF=true, fixed how graph optimization errors are computed (use only x,y,yaw).

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matlabbe
2022-01-12 16:59:03 -05:00
parent fcec98105d
commit 12c2dd707c
4 changed files with 12 additions and 7 deletions
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3
corelib/include/rtabmap/core/Graph.h
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@@ -125,7 +125,8 @@ void RTABMAP_EXP computeMaxGraphErrors(
float & maxLinearError,
float & maxAngularError,
const Link ** maxLinearErrorLink = 0,
const Link ** maxAngularErrorLink = 0);
const Link ** maxAngularErrorLink = 0,
bool for3DoF = false);
std::vector<double> RTABMAP_EXP getMaxOdomInf(const std::multimap<int, Link> & links);