Removed essential matrix check and adjusted hamming distances

astrobee/config/localization.config

@@ -60,11 +60,11 @@ teblid512_ransac_inlier_tolerance = 3
 teblid512_num_ransac_iterations = 1000
 teblid512_early_break_landmarks = 100
 teblid512_histogram_equalization = 3
-teblid512_check_essential_matrix = true 
+teblid512_check_essential_matrix = false 
 teblid512_essential_ransac_iterations = 2000
 teblid512_add_similar_images = true 
 teblid512_add_best_previous_image = true
-teblid512_hamming_distance = 85
+teblid512_hamming_distance = 90 
 teblid512_goodness_ratio = 0.8
 teblid512_use_clahe = true 
 teblid512_num_extra_localization_db_images = 0
@@ -94,11 +94,11 @@ teblid256_ransac_inlier_tolerance = 3
 teblid256_num_ransac_iterations = 1000
 teblid256_early_break_landmarks = 100
 teblid256_histogram_equalization = 3
-teblid256_check_essential_matrix = true 
+teblid256_check_essential_matrix = false 
 teblid256_essential_ransac_iterations = 2000
 teblid256_add_similar_images = true 
 teblid256_add_best_previous_image = true
-teblid256_hamming_distance = 85
+teblid256_hamming_distance = 90 
 teblid256_goodness_ratio = 0.8
 teblid256_use_clahe = true 
 teblid256_num_extra_localization_db_images = 0