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Bump 0.20.19. OdomF2M: scale x0.1 covariance when local bundle adjustment is done. Rtabmap: fixed GT localization error when RGBD/MaxOdomCacheSize is used.

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matlabbe
2022-02-06 17:41:53 -05:00
parent 9ad6b626e4
commit b44b212218
8 changed files with 55 additions and 32 deletions
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3
corelib/include/rtabmap/core/Registration.h
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@@ -45,7 +45,8 @@ public:
kTypeIcp = 1,
kTypeVisIcp = 2
};
static double COVARIANCE_EPSILON;
static double COVARIANCE_LINEAR_EPSILON;
static double COVARIANCE_ANGULAR_EPSILON;
public:
static Registration * create(const ParametersMap & parameters);