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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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guilib/src/DataRecorder.cpp
+1 -1
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@@ -140,7 +140,7 @@ void DataRecorder::addData(const rtabmap::SensorData & data, const Transform & p
//save to database
UTimer time;
memory_->update(data, pose, covariance);
const Signature * s = memory_->getLastWorkingSignature();
const Signature * s = memory_->getLastWorkingSignature(false);
totalSizeKB_ += (int)s->sensorData().imageCompressed().total()/1000;
totalSizeKB_ += (int)s->sensorData().depthOrRightCompressed().total()/1000;
totalSizeKB_ += (int)s->sensorData().laserScanCompressed().data().total()/1000;