Auto graph repairing (#1691)

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* Auto graph repairing: detect and remove bad loop closures accepted in the past that block new good loop closures to be accepted

* Added parameter RGBD/OptimizeMaxErrorRepairRadius: added approach to repair the graph (remove bad loop closures added in the past). Refactored max optimization error function, split repairGraph to its own function.

* Handling optimization from graph end in repair

* MaxGraphErrors: changed link's pointers to copy directly to avoid seg fault down the road if not used properly

* Dont publish optimization statistics if it was not computed.

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matlabbe

2026-05-04 16:02:55 -07:00

committed by GitHub

parent 0cf2e45c81

commit 37f8fa63c5

11 changed files with 746 additions and 554 deletions

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corelib/src/Rtabmap.cpp

+504 -317

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