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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

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matlabbe
2026-04-20 15:21:40 -07:00
parent 9cbe84e445
commit a5af77c7b1
5 changed files with 134 additions and 33 deletions
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guilib/src/DatabaseViewer.cpp
+4 -4
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@@ -9450,7 +9450,7 @@ std::multimap<int, rtabmap::Link> DatabaseViewer::updateLinksWithModifications(
findIter = rtabmap::graph::findLink(linksRemoved_, iter->second.from(), iter->second.to());
if(findIter != linksRemoved_.end())
{
UDEBUG("Removed link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
//UDEBUG("Removed link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
continue; // don't add this link
}
@@ -9467,7 +9467,7 @@ std::multimap<int, rtabmap::Link> DatabaseViewer::updateLinksWithModifications(
{
links.insert(*findIter);
}
UDEBUG("Updated link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
//UDEBUG("Updated link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
continue;
}
@@ -9486,11 +9486,11 @@ std::multimap<int, rtabmap::Link> DatabaseViewer::updateLinksWithModifications(
if(findIter->second.from() != findIter->second.to()) {
links.insert(std::make_pair(findIter->second.to(), findIter->second.inverse())); // return both ways
}
UDEBUG("Added refined link (%d->%d, %d)", findIter->second.from(), findIter->second.to(), findIter->second.type());
//UDEBUG("Added refined link (%d->%d, %d)", findIter->second.from(), findIter->second.to(), findIter->second.type());
continue;
}
UDEBUG("Added link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
//UDEBUG("Added link (%d->%d, %d)", iter->second.from(), iter->second.to(), iter->second.type());
links.insert(*iter);
if(iter->second.from() != iter->second.to()) {
links.insert(std::make_pair(iter->second.to(), iter->second.inverse())); // return both ways