Visual::SetPose performance improvement / minor fixes #3350
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added 2 commits
October 2, 2023 10:40
The old implementation relied hard on internals of map to not crash.
Caching this entry, speeds up poseMsgs block in Scenes.cc from ~10ms to 1ms for our use case. Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
scpeters
approved these changes
Oct 5, 2023
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both of these commits make sense to me, though I suspect there's still more of a performance improvement that can be achieved in Scene::PreRender by preventing Visual::SetPose from touching any sdf::ElementPtr values at all, but this would break any code that reads from dataPtr->sdf and assumes it has the current pose. I think we can merge this as is since it is already an improvement.
Thanks for your contribution!
scpeters
changed the title
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@scpeters sorry for the OT, but is there any plan for a new point release anytime soon? |
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Summary
This commit adds caching for the SDF 'pose' element in the visual. For us this gave a 10x speed improvement in
the poseMsgs block in Scene.cc reducing the runtime from over 10ms to ~1ms.
I am not sure if the caching is allowed for all cases, as it was implemented now.