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Manual Loop Closure Tools Wiki

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This wiki is a practical operator guide for the standalone manual loop closure workflow. It complements the repository README with focused pages on usage, graph-editing logic, backend behavior, and troubleshooting.

Authors: Xiangcheng HU, Jin Wu, Xieyuanli Chen
Contact: xhubd@connect.ust.hk

Start Here

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

What This Tool Does

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

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

It lets you:

• 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

Core Editing Actions

Add Manual Loop

Replace Existing Loop

Disable Existing Loop

Suggested Reading Order

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

Repository Links

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