Graph Editing

Graph Editing

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Editing Philosophy

The tool distinguishes between:

• adding a new manual loop
• replacing an existing loop edge
• disabling an existing loop edge
• restoring a disabled edge

Add Manual Loop

Use this when the graph does not already contain the constraint you want.

Workflow:

1. pick a source / target pair
2. refine the initial pose if necessary
3. run GICP
4. verify the result in the viewer
5. click Add

After Add, the current GICP candidate is consumed. If you change the seed, delta, or map settings, run GICP again before accepting another edit.

Replace Existing Loop

Use this when an existing loop edge is present but unreliable.

Workflow:

1. switch to Edges
2. select the existing loop
3. run GICP from the current preview seed
4. click Replace

After Replace, the current GICP candidate is also consumed, so the button disables again until a fresh GICP run is available.

Internally this keeps the original graph untouched, disables the selected existing loop in the working graph, and applies the new manual result instead.

Disable / Restore

• Disable removes an existing loop from the working graph only.
• Restore brings the disabled loop back into the working graph.

Export Behavior

Export is based on the working graph state after optimization.

This means:

• disabled loops are excluded
• replacement loops are exported through the accepted working graph state
• original input files are not overwritten
• Optimize updates the working graph first and defers heavy map rebuilding
• Export builds global_map_manual_imu.pcd and trajectory.pcd only when needed

Project Logs and Replay

Each edit project now writes:

• project_state.json
• execution.log
• operations.jsonl

This makes it possible to:

• review what was changed during a manual editing session
• reopen the latest project with Load Session
• reopen a specific old project with Resume Project

Run vs Export

• manual_loop_runs/ stores the actual optimization outputs
• manual_loop_exports/ stores a lightweight export manifest that points to one selected run

So Export no longer duplicates the full run directory again. By design, the heavy map rebuild step is also delayed until Export.