cache transform when computing geometries, probably more low hanging …

[erh]

…fruit

[dgottlieb]

Recommend the following comment:

// composeTransforms returns the pose for `frame` given the inputs that frame depends on. The cache
// maps frame names to output poses. The cache assumes the linear inputs are the same as prior calls
// to `composeTransforms`. When a caller changes its `linearInputs`, the caller must invalidate its
// `cache` object.

[dgottlieb]

Didn't check the callsite updates to check for cache invalidation -- just looked at the composeTransforms bit. Let me know if you think there's value in me taking a closer look for bugs in the usage. I assumed that class of bugs wasn't particularly at risk here.

[erh]

Didn't check the callsite updates to check for cache invalidation -- just looked at the composeTransforms bit. Let me know if you think there's value in me taking a closer look for bugs in the usage. I assumed that class of bugs wasn't particularly at risk here.

this had less impact than i expected.
can you take a closer look at some point and see what you think.

[github-actions]

Availability

Scene #	viamrobotics:main	erh:20251107-cache-transforms	Percent Improvement	Health
1	100%	100%	0%	➖
2	100%	100%	0%	➖
3	100%	100%	0%	➖
4	100%	100%	0%	➖
5	100%	100%	0%	➖
6	100%	100%	0%	➖
7	100%	100%	0%	➖
8	100%	100%	0%	➖
9	100%	100%	0%	➖
10	100%	100%	0%	➖

Quality

Scene #	viamrobotics:main	erh:20251107-cache-transforms	Percent Improvement	Probability of Improvement	Health
1	1.31±0.00	1.31±0.00	-0%	50%	➖
2	0.90±0.00	0.90±0.00	-0%	50%	➖
3	6.63±0.57	6.67±0.61	-1%	48%	➖
4	3.23±0.41	3.23±0.41	-0%	50%	➖
5	8.10±2.32	8.12±2.30	-0%	50%	➖
6	8.63±2.93	8.71±2.80	-1%	49%	➖
7	5.79±2.75	5.79±2.75	-0%	50%	➖
8	0.90±0.00	0.90±0.00	-0%	50%	➖
9	4.15±0.00	4.15±0.00	-0%	50%	➖
10	12.84±0.41	12.84±0.41	-0%	50%	➖

Performance

Scene #	viamrobotics:main	erh:20251107-cache-transforms	Percent Improvement	Probability of Improvement	Health
1	0.02±0.00	0.02±0.00	-3%	44%	➖
2	0.05±0.00	0.04±0.00	7%	81%	➖
3	0.08±0.02	0.07±0.01	2%	53%	➖
4	1.31±0.11	1.27±0.06	3%	61%	➖
5	1.74±0.43	1.75±0.42	-0%	50%	➖
6	1.96±0.64	1.95±0.73	1%	50%	➖
7	2.38±0.68	2.50±0.75	-5%	45%	➖
8	0.05±0.00	0.04±0.00	5%	78%	➖
9	2.22±0.20	2.20±0.12	1%	54%	➖
10	6.26±1.06	6.00±1.04	4%	57%	➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 5385bdb0a6d8e617a53c351316b62a26a2b93ad4
The SHA1 for erh:20251107-cache-transforms is: 5385bdb0a6d8e617a53c351316b62a26a2b93ad4

• 10 samples were taken for each scene