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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/RtabmapThread.cpp
+5 -8
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@@ -47,8 +47,7 @@ RtabmapThread::RtabmapThread(Rtabmap * rtabmap) :
_dataBufferMaxSize(Parameters::defaultRtabmapImageBufferSize()),
_rate(Parameters::defaultRtabmapDetectionRate()),
_createIntermediateNodes(Parameters::defaultRtabmapCreateIntermediateNodes()),
_frameRateTimer(new UTimer()),
_previousStamp(0.0),
_previousStamp(-1.0),
_rtabmap(rtabmap),
_paused(false),
lastPose_(Transform::getIdentity())
@@ -62,8 +61,6 @@ RtabmapThread::~RtabmapThread()
UEventsManager::removeHandler(this);
close(true);
delete _frameRateTimer;
}
void RtabmapThread::pushNewState(State newState, const RtabmapEventCmd & cmdEvent)
@@ -88,7 +85,7 @@ void RtabmapThread::clearBufferedData()
_newMapEvents.clear();
lastPose_.setIdentity();
covariance_ = cv::Mat();
_previousStamp = 0;
_previousStamp = -1;
}
_dataMutex.unlock();
@@ -500,9 +497,10 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
bool ignoreFrame = false;
if(_rate>0.0f)
{
if((_previousStamp>=0.0 && odomEvent.data().stamp()>_previousStamp && odomEvent.data().stamp() - _previousStamp < 1.0f/_rate) ||
((_previousStamp<=0.0 || odomEvent.data().stamp()<=_previousStamp) && _frameRateTimer->getElapsedTime() < 1.0f/_rate))
if((_previousStamp>=0.0 && odomEvent.data().stamp()>_previousStamp && odomEvent.data().stamp() - _previousStamp < 1.0f/_rate))
{
UDEBUG("Ignoring frame %f (previous stamp=%f, period=%f)",
odomEvent.data().stamp(), _previousStamp, 1.0/_rate);
ignoreFrame = true;
}
}
@@ -540,7 +538,6 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
}
else if(!ignoreFrame)
{
_frameRateTimer->start();
_previousStamp = odomEvent.data().stamp();
}