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Fix 6DoF graph angular check#1511

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matlabbe merged 2 commits intomasterfrom
fix_6dof_graph_angular_check
May 24, 2025
Merged

Fix 6DoF graph angular check#1511
matlabbe merged 2 commits intomasterfrom
fix_6dof_graph_angular_check

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@matlabbe matlabbe commented May 23, 2025

This bug has been seen when doing optimization deformation check after same landmarks have been detected int the iOS App, resulting in wrong large angular that made rejecting loop closures.

API change in Transform class:

- float getAngle(float x=1.0f, float y=0.0f, float z=0.0f) const;
+ float getAngle(const Transform & t) const;

@matlabbe matlabbe marked this pull request as ready for review May 23, 2025 05:35
@matlabbe matlabbe merged commit 478e909 into master May 24, 2025
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@matlabbe matlabbe deleted the fix_6dof_graph_angular_check branch October 17, 2025 03:21
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