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Support intermediate nodes with memory management enabled (#1687)

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* Support intermediate nodes with memory management enabled

* Adding fix from #1686

* Fixed odomCache overlay shown in mapping mode

* Fixed local retrieval with intermediate nodes

* bumping version for updating API. Fixed getting graph error.

* Disable planning if intermediate nodes are there. Updated usage of Kp/BadSignRatio to support intermediate nodes.
This commit is contained in:
matlabbe
2026-04-19 16:08:03 -07:00
committed by GitHub
parent cc86af4399
commit 9cbe84e445
15 changed files with 385 additions and 140 deletions
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2
app/android/jni/RTABMapApp.cpp
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@@ -3000,7 +3000,7 @@ void RTABMapApp::setTrajectoryMode(bool enabled)
void RTABMapApp::setGraphOptimization(bool enabled)
{
graphOptimization_ = enabled;
if((sensorCaptureThread_ == 0) && rtabmap_ && rtabmap_->getMemory()->getLastWorkingSignature()!=0)
if((sensorCaptureThread_ == 0) && rtabmap_ && rtabmap_->getMemory()->getLastWorkingSignature(false)!=0)
{
std::map<int, rtabmap::Transform> poses;
std::multimap<int, rtabmap::Link> links;