steam-frame/lbgos--rift-s-linux
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Halve LSH lookup memory and align public key-loader rows

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lbgos committed 2026-10-13 01:48:21 +03:00
1 parent e88a35d5c1
commit 32d1033475
2 files changed
+18 -12
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src/xrt/drivers/rift_s/rift_s_world_matcher.hpp
+14 -11
View File
@@ -40,7 +40,7 @@ struct RiftSOrbHamming : cvflann::HammingLUT
class RiftSOrbIndex
{
public:
explicit RiftSOrbIndex(const cv::Mat &descriptors) : train(descriptors)
explicit RiftSOrbIndex(const cv::Mat &descriptors) : train(descriptors.clone())
{
cvflann::Matrix<unsigned char> dataset(train.data, train.rows, train.cols, train.step);
masks.push_back(0);
@@ -54,7 +54,7 @@ public:
table.hash.add(dataset);
table.buckets.resize(size_t(1) << 20);
table.present.resize(size_t(1) << 14);
table.candidates.reserve(train.rows);
table.candidates.reserve(size_t(train.rows) * 2);
for (int row = 0; row < train.rows; ++row) {
auto key = table.hash.getKey(train.ptr<unsigned char>(row));
auto bit = uint64_t(1) << (key & 63);
@@ -62,7 +62,8 @@ public:
continue;
table.present[key >> 6] |= bit;
const auto &bucket = *table.hash.getBucketFromKey(key);
table.buckets[key] = {uint32_t(table.candidates.size()), uint32_t(bucket.size())};
table.buckets[key] = uint32_t(table.candidates.size());
table.candidates.push_back(uint32_t(bucket.size()));
table.candidates.insert(table.candidates.end(), bucket.begin(), bucket.end());
}
}
@@ -86,8 +87,9 @@ public:
auto probe = key ^ mask;
if (!(table.present[probe >> 6] & (uint64_t(1) << (probe & 63))))
continue;
const auto range = table.buckets[probe];
for (uint32_t at = range.start; at < range.start + range.count; ++at) {
auto start = table.buckets[probe];
auto end = start + 1 + table.candidates[start];
for (uint32_t at = start + 1; at < end; ++at) {
auto candidate = table.candidates[at];
result.addPoint(
distance(query, train.ptr<unsigned char>(candidate), 32),
@@ -109,11 +111,7 @@ private:
struct Table
{
cvflann::lsh::LshTable<unsigned char> hash;
struct Range
{
uint32_t start = 0, count = 0;
};
std::vector<Range> buckets;
std::vector<uint32_t> buckets;
std::vector<uint64_t> present;
std::vector<uint32_t> candidates;
};
@@ -150,7 +148,12 @@ public:
{
#if (defined(__x86_64__) || defined(__i386__)) && defined(__GNUC__)
if (fast) {
fast->knnMatch(descriptors, nearest, count);
// OpenCV hashes rows through size_t loads. A packed aligned copy
// keeps sliced or unaligned callers out of that loader.
cv::Mat queries = descriptors;
if (!queries.isContinuous() || reinterpret_cast<uintptr_t>(queries.data) % alignof(size_t))
queries = descriptors.clone();
fast->knnMatch(queries, nearest, count);
return;
}
#endif
tests/tests_rift_s_world_matcher.cpp
+4 -1
View File
@@ -28,7 +28,10 @@ TEST_CASE("Native room descriptor distance preserves BF and LSH neighbor identit
reference->add(std::vector<cv::Mat>{train});
reference->train();
cvflann::seed_random(seed);
RiftSWorldMatcher native(train);
cv::Mat padded_train(train.rows, 35, CV_8U);
cv::Mat sliced_train = padded_train.colRange(1, 33);
train.copyTo(sliced_train);
RiftSWorldMatcher native(sliced_train);
// Non-contiguous rows must retain query indices and neighbor order.
cv::Mat padded(queries.rows, 35, CV_8U);
cv::Mat sliced = padded.colRange(1, 33);