From 34bcc24f62c4c31639c4ab9d3d7feb70eaa6c885 Mon Sep 17 00:00:00 2001
From: dehann <dehann.fourie@gmail.com>
Date: Mon, 12 Dec 2022 21:29:48 -0800
Subject: [PATCH] oas skip grad on caching

---
 .../services/DispatchPackedConversions.jl            | 12 ++++++++++--
 src/services/FactorGraph.jl                          |  6 +++---
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/src/Serialization/services/DispatchPackedConversions.jl b/src/Serialization/services/DispatchPackedConversions.jl
index bc812a73..ef7ac6d8 100644
--- a/src/Serialization/services/DispatchPackedConversions.jl
+++ b/src/Serialization/services/DispatchPackedConversions.jl
@@ -72,16 +72,23 @@ end
 ##
 
 """
-  $(SIGNATURES)
+    $(SIGNATURES)
+
 After deserializing a factor using decodePackedType, use this to
 completely rebuild the factor's CCW and user data.
+
+Notes:
+- This function is likely to be used for cache heavy factors, e.g. `ObjectAffordanceSubcloud`.
+
 Dev Notes:
 - TODO: We should only really do this in-memory if we can by without it (review this).
+- TODO: needs testing
 """
 function rebuildFactorMetadata!(
   dfg::AbstractDFG{SolverParams},
   factor::DFGFactor,
-  neighbors = map(vId -> getVariable(dfg, vId), getNeighbors(dfg, factor)),
+  neighbors = map(vId -> getVariable(dfg, vId), getNeighbors(dfg, factor));
+  _blockRecursionGradients::Bool=false
 )
   #
   # Set up the neighbor data
@@ -100,6 +107,7 @@ function rebuildFactorMetadata!(
     potentialused = fsd.potentialused,
     edgeIDs = fsd.edgeIDs,
     solveInProgress = fsd.solveInProgress,
+    _blockRecursion=_blockRecursionGradients
   )
   #
 
diff --git a/src/services/FactorGraph.jl b/src/services/FactorGraph.jl
index 03fb09ae..7d8b8b39 100644
--- a/src/services/FactorGraph.jl
+++ b/src/services/FactorGraph.jl
@@ -717,11 +717,11 @@ function getDefaultFactorData(
   _blockRecursion::Bool = false,
 ) where {T <: AbstractFactor}
   #
-
+  
   # prepare multihypo particulars
   # storeMH::Vector{Float64} = multihypo == nothing ? Float64[] : [multihypo...]
   mhcat, nh = parseusermultihypo(multihypo, nullhypo)
-
+  
   # allocate temporary state for convolutional operations (not stored)
   userCache = preambleCache(dfg, Xi, usrfnc)
   ccw = _prepCCW(
@@ -734,7 +734,7 @@ function getDefaultFactorData(
     _blockRecursion,
     userCache,
   )
-
+  
   # and the factor data itself
   return FunctionNodeData{typeof(ccw)}(
     eliminated,