refactor(backend): keep the unmerged graph odometric; derive merged poses via per-node transforms - #157

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harelb wants to merge 7 commits into

MIT-SPARK:developfrom

harelb:feat/odometric-unmerged-deform

Commits on Jul 8, 2026

perf(backend): full PGO solve only on new loop closures
harelb
committed
fix(backend): logStatus reads the timers that actually exist
harelb
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fix(backend): hoist per-spin bookkeeping out of the update-functor loop
harelb
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fix(backend): stop mutating unmerged places positions in updateFromValues
harelb
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refactor(backend): keep unmerged graph odometric; derive merged poses via per-node transforms
harelb
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fix(backend): find pass-0 merges on the optimized merged graph
harelb
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fix(tests): find object merges on the merged graph
harelb
committed