Home

Manual Loop Closure Tools Wiki

欢迎来到 Manual Loop Closure Tools 的项目 Wiki。

This wiki is designed as a practical operator guide for the standalone manual loop closure workflow. It complements the repository README.md by focusing on usage, graph-editing logic, backend behavior, and troubleshooting.

本 Wiki 面向实际使用者，重点介绍独立手动闭环工具的操作流程、图编辑逻辑、优化后端行为和常见问题。

Authors: Xiangcheng HU, Jin Wu and Xieyaunli Chen
Contact: xhbd@connect.ust.hk

Start Here | 从这里开始

• Quick Start
• GUI Workflow
• Graph Editing
• Optimization Backends
• Troubleshooting
• FAQ

What This Tool Does | 工具定位

The project is an offline loop-closure editor for LiDAR mapping sessions that already export:

本项目是一个面向激光雷达建图结果的离线闭环编辑工具，输入通常已经包含：

• pose_graph.g2o
• optimized_poses_tum.txt
• key_point_frame/*.pcd

It lets you:

它可以帮助你：

• inspect Original and Working trajectories

• pick node pairs or existing loop edges

• preview source / target point clouds in map coordinates

• run GICP and validate loop proposals

• add, replace, disable, restore, and export graph changes

• 对比 Original 和 Working 两套轨迹

• 选中节点对或已有闭环边

• 在地图坐标系下预览 source / target 点云

• 运行 GICP 并验证闭环候选

• 新增、替换、禁用、恢复并导出图改动

Core Editing Actions | 核心编辑动作

Add Manual Loop | 新增手工闭环边

Replace Existing Loop | 替换已有闭环边

Disable Existing Loop | 禁用已有闭环边

Suggested Reading Order | 建议阅读顺序

1. Quick Start
2. GUI Workflow
3. Graph Editing
4. Optimization Backends
5. Troubleshooting

Related Repository Links | 仓库链接

• Main README
• Installation Guide
• Python GTSAM 4.3
• Tool Manual