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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/OptimizerGTSAM.cpp
+2 -2
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@@ -379,8 +379,8 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
int id1 = iter->second.from();
int id2 = iter->second.to();
UASSERT_MSG(poses.find(id1)!=poses.end(), uFormat("id1=%d", id1).c_str());
UASSERT_MSG(poses.find(id2)!=poses.end(), uFormat("id2=%d", id2).c_str());
UASSERT_MSG(poses.find(id1)!=poses.end(), uFormat("id1=%d for constraint %d->%d (type=%d)", id1, id1, id2, iter->second.type()).c_str());
UASSERT_MSG(poses.find(id2)!=poses.end(), uFormat("id2=%d for constraint %d->%d (type=%d)", id2, id1, id2, iter->second.type()).c_str());
UASSERT(!iter->second.transform().isNull());
if(id1 == id2)