Optimize distortion calibration by 1.25x for certain problems #1285
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Cost evaluation code copies the distortion params set to acquire its size and copy the data back in. The amount of copies can be reduced by storing data in-place.
Currently when the caller wants to acquire the number of parameters they call getParams() which is expensive as it builds the parameter set from scratch. This can be improved by implementing a function which only returns the parameter count.
Cost evaluation code copies the distortion params set to acquire its size and also introduces an unnecessary vector copy to put the data in. The amount of copies can be reduced by storing data in-place.
Cost evaluation code initializes a new std::vector as a temporary during cost copying. This can be improved by storing data in-place.
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fabiencastan
approved these changes
Nov 10, 2022
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I've accidentally noticed that distortion calibration takes a lot of time in
std::vectoroperations. Closer inspection revealed that we're copying data unnecessarily when setting distortion parameters. This PR optimizes this operation by giving the caller an option to supply a callback with which appropriate number of parameters will be initialized with all the usual error checking.On a machine with AMD 2990WX (with turbo boost disabled) this PR improves the run-time of
test_calibration_distortiontest from ~3.9s to ~3.1s.