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koide3 / interactive_slam

Interactive Map Correction for 3D Graph SLAM
GNU General Public License v3.0
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Ability to delete edge #21

Open tim-fan opened 4 years ago

tim-fan commented 4 years ago

Hello, thanks for the great package! I'm just wondering if there is a way to delete edges with this tool? The map I import from hdl_graph_slam has some incorrect loop closures I'd like to delete. Additionally I sometimes manually add loop closures incorrectly, and I'd like a way to undo them.

Is there a way to delete these edges?

koide3 commented 4 years ago

The current implementation does not provide a way to delete an edge. But, we will definitely add this ability in the future version.

So far, you can try the devel branch that incorporates some new features, and one of them allows the user to replace an existing pose edge constraint. You can select two keyframes that are connected by a wrong edge and give a correct pose. Then, the existing constraint will be replaced with the new one.

tim-fan commented 4 years ago

OK, thanks for the info.

In the meantime for the incorrect hdl_graph_slam edges, I've found I can manually delete them in the exported g2o file. But yes a 'click and delete edge' feature would be very handy :thumbsup::thumbsup:

koide3 commented 4 years ago

Preliminary implementation of the deleting edge ability is now available on the devel branch.

ThanhNhann commented 3 years ago

Thank for adding delete edge button, but when I check the function void delete_edge(EdgeView::Ptr edge) and comment the part find and erase edges_view, the code still run fine. Can you explain the role of this part in this function ? Thanks!

koide3 commented 3 years ago

Can you point the code with a permalink so that I can take a look at it?

ThanhNhann commented 3 years ago

Thank for reply, the code is below! https://github.com/SMRT-AIST/interactive_slam/blob/1ecd2f95d3bd8eee6a986c8e49a8745ab40003aa/include/hdl_graph_slam/view/interactive_graph_view.hpp#L93-L97

koide3 commented 3 years ago

edges_view is a subset of drawables and used to manage right click menu. Even if you comment out these lines, the deleted edge properly disappears as far as the following lines are preserved and the drawing object of the edge is removed from drawables (some unused edge_view objects would remain though).

https://github.com/SMRT-AIST/interactive_slam/blob/1ecd2f95d3bd8eee6a986c8e49a8745ab40003aa/include/hdl_graph_slam/view/interactive_graph_view.hpp#L99-L103