Zachary Thorson issues

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                                            Zachary Thorson

DRAFT: Tiling Stage Fixes and Improvements

## Description Fixes to numerous small bugs and odd behaviors discovered when trying to use the tiling stage for the first time in a while. There are also some improvements...

Frame poses with very large roll/pitch are not rejected causing excessive map sizes

If our tracking gets completely messed up and decides are frames are facing the horizon, the current system will still add them to the map. This drastically expands the map...