New parameter: RGBD/LocalizationSecondTryWithoutProximityLinks#1499
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New parameter: RGBD/LocalizationSecondTryWithoutProximityLinks#1499
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…fter a successful second loc try
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Also added Loop, Proximity_links_cleared statistics to know number of local loop closures removed from odometry cache (localization mode) when a second try without them is done and accepted.
Updated odom cache poses with optimized values when localization is accepted, to better see in rviz/rtabmpa_viz the resulting optimized odometry graph instead of the raw odometry poses.