Fix tracker time increasing issue

[zwdoescode]

Fix issue #77

Summary by CodeRabbit

• Bug Fixes
  • Improved stability when tracking poses and trajectory data concurrently.
  • Reduced the risk of inconsistent pose results during simultaneous tracking and pose retrieval.
  • Improved handling of keyframe and frame-pose updates under concurrent operations.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Path: .coderabbit.yaml

Review profile: ASSERTIVE

Plan: Enterprise

Run ID: 925cf578-6c12-4089-aa1e-ac988ae19ea9

📥 Commits

Reviewing files that changed from the base of the PR and between 7d2463f and c729b74.

📒 Files selected for processing (2)

• libs/slam/async_slam/async_slam.cpp
• libs/slam/async_slam/async_slam.h

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📝 Walkthrough

Walkthrough

AsyncSlam adds mutex protection for shared tracking state and trajectory data. Update paths write and snapshot state under the mutex. Pose query methods copy shared data under the mutex before processing.

Changes

Pose-state synchronization

Layer / File(s)	Summary
Pose-state guard and update paths libs/slam/async_slam/async_slam.h, libs/slam/async_slam/async_slam.cpp	Adds pose_state_mutex_ and documents guarded members. TrackResult and keyframe processing update tracking state and trajectory data under the mutex.
Synchronized pose reads libs/slam/async_slam/async_slam.cpp	GetSlamPose, GetPoseForFrame, and GetPosesForAllFrames copy shared state or trajectory data under the mutex before processing.

Estimated code review effort: 3 (Moderate) | ~20 minutes

Suggested reviewers: hrabeti-nvidia, slepichev, vikuznetsov-nvidia

🚥 Pre-merge checks | ✅ 5

✅ Passed checks (5 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title identifies the tracker time issue addressed by the pull request and matches the stated objective.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

✨ Finishing Touches

📝 Generate docstrings

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch zheng/fix-gh-77

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[github-actions]

Test Results

Status	Platform	Language	Total	Passed	Failed	Errors	Skipped
✅	Orin	C++	16	16	0	0	0
✅	Orin	Python	71	70	0	0	1
✅	Thor	C++	16	16	0	0	0
✅	Thor	Python	71	70	0	0	1
✅	x86_64	C++	16	16	0	0	0
✅	x86_64	Python	71	70	0	0	1

cuVSLAM Evaluation KPIs

Config	Dataset	ATE,%	ARE,º/m	Kabsch,	Losts,	diff ATE,%	diff ARE,º/m	diff Kabsch,	diff Losts,	FPS,Hz
x86_64-cuda12.6.3-ubuntu24.04	KITTI-STEREO_ODOM	0.8486	0.0024	2.9525	0	NA	NA	NA	NA	324.4
x86_64-cuda12.6.3-ubuntu24.04	KITTI-STEREO_SLAM	0.7549	0.002	1.9098	0	NA	NA	NA	NA	181.9

Artifacts

• eval-html-report
• eval-kpis-pr
• test-results-x86_64
• docs-html
• test-results-orin
• test-results-thor

[slepichev]

The public API contract (cuvslam2.h:750) requires all Slam methods to be called from a single thread. track_data_ and trajectory_ are only ever touched from that one caller thread, so no concurrent access is possible. No need to add extra mutex.