Graph Editing

Graph Editing

Editing Philosophy | 编辑逻辑

The tool distinguishes between:

工具明确区分以下几种图编辑动作：

• adding a new manual loop

• replacing an existing loop edge

• disabling an existing loop edge

• restoring a disabled edge

• 新增手工闭环边

• 替换已有闭环边

• 禁用已有闭环边

• 恢复已禁用边

Add Manual Loop | 新增手工闭环边

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

适用于图中原本不存在你想加入的那条约束。

Workflow:

流程：

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

Replace Existing Loop | 替换已有闭环边

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

适用于已有闭环边存在，但你认为约束不够可靠的情况。

Workflow:

流程：

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

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

内部实现上不会改写原始图，而是在 working graph 中禁用原边，再应用新的手工约束结果。

Disable / Restore | 禁用 / 恢复

• Disable removes an existing loop from the working graph only.

• Restore brings the disabled loop back into the working graph.

• Disable 只在 working graph 中移除已有闭环边。

• Restore 会把被禁用的边重新加入 working graph。

Export Behavior | 导出语义

Export is based on the working graph state after optimization.

导出结果基于优化后的 working graph 状态。

This means:

这意味着：

• disabled loops are excluded

• replacement loops are exported through the accepted working graph state

• original input files are not overwritten

• 被禁用的闭环边不会进入最终导出

• 替换后的闭环以 working graph 的接受状态导出

• 原始输入文件不会被覆盖