Gonna depend a lot on what you want out of it. For maximum performance on the range (I.e. you wanna shoot like a USPSA GM and make videos of being awesome) then the full sized with the longer sight radius should help a bit. For more of a do-everything gun, like the G19 is often fabled as, the Centurion makes more sense.
Overall, I prefer the Centurion, but if the RDO versions ever come available again, I would not hesitate to grab an APX RDO full size.