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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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guilib/src/PreferencesDialog.cpp
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@@ -1272,6 +1272,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kOptimizerVarianceIgnored().c_str());
_ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->graphOptimization_maxError->setObjectName(Parameters::kRGBDOptimizeMaxError().c_str());
_ui->graphOptimization_maxErrorRepairRadius->setObjectName(Parameters::kRGBDOptimizeMaxErrorRepairRadius().c_str());
_ui->graphOptimization_gravitySigma->setObjectName(Parameters::kOptimizerGravitySigma().c_str());
_ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kOptimizerEpsilon().c_str());
_ui->graphOptimization_robust->setObjectName(Parameters::kOptimizerRobust().c_str());