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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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corelib/src/Optimizer.cpp
+2 -1
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@@ -240,7 +240,8 @@ void Optimizer::getConnectedGraph(
{
UDEBUG("IN: fromId=%d poses=%d links=%d priorsIgnored=%d landmarksIgnored=%d", fromId, (int)posesIn.size(), (int)linksIn.size(), priorsIgnored()?1:0, landmarksIgnored()?1:0);
UASSERT(fromId>0);
UASSERT(uContains(posesIn, fromId));
UASSERT_MSG(uContains(posesIn, fromId), uFormat("poses=%ld (first=%d last=%d) fromId=%d",
posesIn.size(), posesIn.empty()?0:posesIn.begin()->first, posesIn.empty()?0:posesIn.rbegin()->first, fromId).c_str());
posesOut.clear();
linksOut.clear();