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matlabbe
37f8fa63c5
* 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.