Localization: Refactored getConnectedGraph() for 2d slam and tags (ht… #383

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Job	Run time
docker_deps (focal-deps)	21s
docker_deps (jammy-deps)	17s
docker_deps (jammy-iron-deps)	24s
docker (bionic)	1h 34m 16s
docker (focal)	2h 5m 8s
docker (jammy)	1h 45m 54s
docker (jammy-iron)	10m 2s
docker (android23)	14m 39s
docker (android24)	14m 40s
docker (android26)	14m 42s
docker (android30)	15m 59s
	6h 36m 22s