steam-frame/hyblocker--OpenVR-SpaceCalibrator
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chore: optimise hot loop allocations a bit

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Hyblocker committed 2026-09-23 21:54:40 +02:00
1 parent 1c14061930
commit 4b44ae2e33
1 file changed
+11 -18
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src/overlay/calibration.cpp
+11 -18
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@@ -207,8 +207,11 @@ Eigen::Vector3d TrackingSystemCalibration::calibrateTranslation(const std::vecto
eCalibrationError = CalibrationError::None;
// @TODO: optimise this, this is REALLY slow -> up to 2 SECOND LAG SPIKE IN DEBUG
std::vector<std::pair<Eigen::Vector3d, Eigen::Matrix3d>> deltas;
deltas.reserve(samples.size() * (samples.size() - 1)); // combination(2, 1)
const size_t numDeltas = samples.size() * (samples.size() - 1); // combination(2, 1)
Eigen::VectorXd constants(numDeltas * 3);
Eigen::MatrixXd coefficients(numDeltas * 3, 3);
size_t row = 0;
// rotation is only applied to the target tracking system, as that's the tracking system the calibration is targeting! we do not need to modify the reference pose!
for (size_t i = 0; i < samples.size(); i++) {
@@ -223,25 +226,15 @@ Eigen::Vector3d TrackingSystemCalibration::calibrateTranslation(const std::vecto
auto QAi = sample_i.reference.rot.transpose();
auto QAj = sample_j.reference.rot.transpose();
auto dQA = QAj - QAi;
auto CA = QAj * (sample_j.reference.trans - sample_j.target.trans) - QAi * (sample_i.reference.trans - sample_i.target.trans);
deltas.push_back(std::make_pair(CA, dQA));
coefficients.block<3, 3>(row, 0) = QAj - QAi;
constants.segment<3>(row) = QAj * (sample_j.reference.trans - sample_j.target.trans) - QAi * (sample_i.reference.trans - sample_i.target.trans);
row += 3;
auto QBi = sample_i.target.rot.transpose();
auto QBj = sample_j.target.rot.transpose();
auto dQB = QBj - QBi;
auto CB = QBj * (sample_j.reference.trans - sample_j.target.trans) - QBi * (sample_i.reference.trans - sample_i.target.trans);
deltas.push_back(std::make_pair(CB, dQB));
}
}
Eigen::VectorXd constants(deltas.size() * 3);
Eigen::MatrixXd coefficients(deltas.size() * 3, 3);
for (size_t i = 0; i < deltas.size(); i++) {
for (int axis = 0; axis < 3; axis++) {
constants(i * 3 + axis) = deltas[i].first(axis);
coefficients.row(i * 3 + axis) = deltas[i].second.row(axis);
coefficients.block<3, 3>(row, 0) = QBj - QBi;
constants.segment<3>(row) = QBj * (sample_j.reference.trans - sample_j.target.trans) - QBi * (sample_i.reference.trans - sample_i.target.trans);
row += 3;
}
}