Quick Start

Quick Start

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Recommended Path

cd ~/my_git/Mannual-Loop-Closure-Tools
make venv
source .venv/bin/activate
python launch_gui.py --session-root /path/to/mapping_session

For normal usage, the Python backend is the default path.

Minimum Input

Your session should already contain:

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

Typical Flow

1. Load a session.
2. Inspect the trajectory.
3. Pick node pairs or an existing loop edge.
4. Preview source and target clouds.
5. Run GICP.
6. Add / replace / disable graph changes. After Add or Replace, rerun GICP before accepting another change.
7. Optimize the working graph.
8. Export the final result.

Resume an Old Edit Project

• Load Session resumes the latest edit project under the selected session root.
• Resume Project lets you restore a specific historical edit project by picking its project_state.json.

Session input example:

Storage Layout

• manual_loop_projects/<project_id>/
  • edit history and resume state
  • project_state.json, execution.log, operations.jsonl
• manual_loop_runs/<run_id>/
  • one optimization result
  • edited g2o, constraints CSV, optimized TUM, report, plot, run context
• manual_loop_exports/<export_id>/
  • lightweight final-export manifest
  • no full duplicate copy of the selected run

Optimize updates the working graph quickly. Export is the stage that builds the final map and trajectory files.

Helpful Links

• GUI Workflow
• Graph Editing
• Troubleshooting