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New parameter "RGBD/MaxOdomCacheSize" used in localization mode to reject similar locations (default disabled)

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matlabbe
2019-04-05 19:37:40 -04:00
parent ae12caff04
commit 9b63297a6b
7 changed files with 297 additions and 94 deletions
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corelib/src/Graph.cpp
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@@ -842,6 +842,7 @@ void computeMaxGraphErrors(
maxLinearError = -1;
maxAngularError = -1;
UDEBUG("poses=%d links=%d", (int)poses.size(), (int)links.size());
for(std::multimap<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
{
// ignore links with high variance, priors and landmarks