Skip to content

perf(backend): run the full PGO solve only when new loop closures arrive #154

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
harelb wants to merge 2 commits into
base: develop
Choose a base branch
from
Open

perf(backend): run the full PGO solve only when new loop closures arrive #154

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
0739d9c
perf(backend): full PGO solve only on new loop closures
harelb Jul 8, 2026
ffb51b6
fix(backend): logStatus reads the timers that actually exist
harelb Jul 8, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 18 additions & 4 deletions src/backend/backend_module.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -260,11 +260,25 @@ bool BackendModule::spinOnce(bool force_update) {
}

timer.reset("backend/spin");
if ((config.optimize_on_lc && have_loopclosures_) || force_optimize_) {
if ((config.optimize_on_lc && have_new_loopclosures_) || force_optimize_) {
optimize(timestamp_ns);
} else {
updateDsgMesh(timestamp_ns);
UpdateInfo::ConstPtr info(new UpdateInfo{timestamp_ns});
UpdateInfo::ConstPtr info;
if (have_loopclosures_) {
// no new factors to solve: deform new/active nodes and mesh with the cached
// optimized values; the full solve only runs when new loop closures arrive
info.reset(new UpdateInfo{timestamp_ns,
deformation_graph_->getTempValues(),
deformation_graph_->getValues(),
false,
{},
deformation_graph_.get(),
nullptr,
mesh_offsets_});
} else {
info.reset(new UpdateInfo{timestamp_ns});
}
dsg_updater_->callUpdateFunctions(timestamp_ns, info);
}

Expand Down Expand Up @@ -555,8 +569,8 @@ void BackendModule::logStatus() {
auto& status = status_log_.back();
const auto& timer = hydra::timing::ElapsedTimeRecorder::instance();
status.last_spin_s = timer.getLastElapsed("backend/spin");
status.last_opt_s = timer.getLastElapsed("backend/optimization");
status.last_mesh_update_s = timer.getLastElapsed("backend/mesh_update");
status.last_opt_s = timer.getLastElapsed("dsg_updater/optimization");
status.last_mesh_update_s = timer.getLastElapsed("backend/mesh_deformation");
}

} // namespace hydra
Loading