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Frontend 5/5 speedup: Frontend CPU/GPU overlap - #16

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Zador-Pataki merged 2 commits into
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zador/frontend-speedup-05-overlap
Sep 21, 2026
Merged

Zador-Pataki merged 2 commits into
mainfrom
zador/frontend-speedup-05-overlap

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Changes

  • Overlap keyframe GPU inference with CPU processing.
  • Verify DA3 weights during tracking.
  • Reduce keyframe loader workers from sixteen to four.

Impact

Shortened LaMAR HGE sequence: 589 images, 61 keyframes.

Frontend: 63.988 → 56.933 s (7.055 s saved, 11.03%).

Median of three fresh local RTX 4090 runs with warm caches.

Component measurement (61 keyframes) Before (s) After (s) Saved (s)
Four loader workers instead of sixteen 62.0416 60.9949 1.0467
Verify DA3 checkpoint during tracking 60.9860 58.6062 2.3798
Overlap keyframe GPU inference and CPU processing 60.9860 58.9936 1.9924

@Zador-Pataki
Zador-Pataki changed the base branch from zador/frontend-speedup-04-da3 to main September 21, 2026 22:17
@Zador-Pataki
Zador-Pataki merged commit febc0db into main Sep 21, 2026
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@Zador-Pataki
Zador-Pataki deleted the zador/frontend-speedup-05-overlap branch September 21, 2026 22:19
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