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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.
This commit is contained in:
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/global_map/OccupancyGrid.cpp
+2 -2
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@@ -222,14 +222,14 @@ void OccupancyGrid::assemble(const std::list<std::pair<int, Transform> > & newPo
if(!cache().empty())
{
UDEBUG("Updating from cache");
UDEBUG("Updating %ld poses from cache", newPoses.size());
for(std::list<std::pair<int, Transform> >::const_iterator iter = newPoses.begin(); iter!=newPoses.end(); ++iter)
{
if(uContains(cache(), iter->first))
{
const LocalGrid & localGrid = cache().at(iter->first);
UDEBUG("Adding grid %d: ground=%d obstacles=%d empty=%d", iter->first, localGrid.groundCells.cols, localGrid.obstacleCells.cols, localGrid.emptyCells.cols);
//UDEBUG("Adding grid %d: ground=%d obstacles=%d empty=%d", iter->first, localGrid.groundCells.cols, localGrid.obstacleCells.cols, localGrid.emptyCells.cols);
//ground
cv::Mat ground;