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Visual::SetPose performance improvement / minor fixes #3350

Merged
merged 2 commits into from
Oct 5, 2023
Merged

Visual::SetPose performance improvement / minor fixes #3350

merged 2 commits into from
Oct 5, 2023

Commits on Oct 2, 2023

  1. fix: fixed undefined behavior 

    The old implementation relied hard on internals of map to not crash.
    Janosch Machowinski authored and Janosch Machowinski committed Oct 2, 2023
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Commits on Oct 4, 2023

  1. perf: Cache sdf pose element 

    Caching this entry, speeds up poseMsgs block in Scenes.cc from ~10ms
to 1ms for our use case.

Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
    Janosch Machowinski authored and Janosch Machowinski committed Oct 4, 2023
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