* 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.
matlabbe
37f8fa63c5