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MRPT / srba

[Prefer the newer MOLAorg/mola project] C++ framework for relative SLAM: Sparser Relative Bundle Adjustment (SRBA)
http://mrpt.github.io/srba/
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Fix loop closure distance threshold #8

Closed jlblancoc closed 8 years ago

jlblancoc commented 8 years ago

For the ECP with submaps: When the observing or base KF are "central KF", the "-2" in the formula for minimum distance to close a loop should be changed. Fix it.

jlblancoc commented 8 years ago

@famoreno : This is fixed now! ;-)