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Use local variables for line fit stats accumulation#405

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christian-rauch merged 1 commit into
AprilRobotics:masterfrom
jvanvugt:joris/lfps-avoid-memcpy
Oct 13, 2025
Merged

Use local variables for line fit stats accumulation#405
christian-rauch merged 1 commit into
AprilRobotics:masterfrom
jvanvugt:joris/lfps-avoid-memcpy

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@jvanvugt

@jvanvugt jvanvugt commented Oct 7, 2025

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Another performance optimization for quad fitting. Using local variables for the line fitting statistics allows them to be stored in CPU registers and avoids memcopy-ing the struct. This speeds up quad fitting from 46.6ms to 43.7ms averaged over 100 runs on my 6MP test image with 51 tags.

Allows them to be stored in CPU registers and avoids memcopy-ing the struct

(cherry picked from commit e504236)
@jvanvugt

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@christianrauch Perhaps you've missed this PR in the noise of my other PRs ;) Looking forward to your review.

No worries if you haven't had time to look at it

@christian-rauch christian-rauch merged commit 22b44c1 into AprilRobotics:master Oct 13, 2025
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2 participants