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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/odometry/OdometryMono.cpp
+6 -6
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@@ -239,7 +239,7 @@ Transform OdometryMono::computeTransform(SensorData & data, const Transform & gu
{
UDEBUG("");
bool newPtsAdded = false;
const Signature * newS = memory_->getLastWorkingSignature();
const Signature * newS = memory_->getLastWorkingSignature(false);
UDEBUG("newWords=%d", (int)newS->getWords().size());
nFeatures = (int)newS->getWords().size();
if((int)newS->getWords().size() > minInliers_)
@@ -646,7 +646,7 @@ Transform OdometryMono::computeTransform(SensorData & data, const Transform & gu
info->type = 1;
}
const Signature * refS = memory_->getLastWorkingSignature();
const Signature * refS = memory_->getLastWorkingSignature(false);
std::vector<cv::Point2f> refCorners(firstFrameGuessCorners_.size());
std::vector<cv::Point2f> refCornersGuess(firstFrameGuessCorners_.size());
@@ -804,10 +804,10 @@ Transform OdometryMono::computeTransform(SensorData & data, const Transform & gu
if(!refWords3.empty())
{
UDEBUG("Added %d/%d valid 3D features", (int)refWords3.size(), (int)localMap_.size());
keyFrameWords3D_.insert(std::make_pair(memory_->getLastWorkingSignature()->id(), refWords3));
keyFrameWords3D_.insert(std::make_pair(memory_->getLastWorkingSignature(false)->id(), refWords3));
}
keyFramePoses_.insert(std::make_pair(memory_->getLastWorkingSignature()->id(), this->getPose()));
keyFrameModels_.insert(std::make_pair(memory_->getLastWorkingSignature()->id(), newModel));
keyFramePoses_.insert(std::make_pair(memory_->getLastWorkingSignature(false)->id(), this->getPose()));
keyFrameModels_.insert(std::make_pair(memory_->getLastWorkingSignature(false)->id(), newModel));
}
}
else
@@ -829,7 +829,7 @@ Transform OdometryMono::computeTransform(SensorData & data, const Transform & gu
// generate kpts
if(memory_->update(SensorData(data)))
{
const Signature * s = memory_->getLastWorkingSignature();
const Signature * s = memory_->getLastWorkingSignature(false);
const std::multimap<int, int> & words = s->getWords();
if((int)words.size() > minInliers_ && !s->getWordsKpts().empty())
{