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Avoid per-view allocations in camera triangulation

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Store the two four-element DLT rows in arrays while preserving arithmetic and accumulation order. This removes two heap allocations for every triangulated view.

Fixes #2326
This commit is contained in:
vangel76
2026-10-24 23:06:47 +02:00
parent 991904888a
commit f8c622b6cd
1 changed files with 2 additions and 2 deletions
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crates/track/src/camtrack/geometry.rs
+2 -2
View File
@@ -204,8 +204,8 @@ pub fn triangulate(views: &[(Pose, [f64; 2])]) -> Option<V3> {
for (p, x) in views {
let t = p.t();
let rows = [[p.r[0][0], p.r[0][1], p.r[0][2], t[0]], [p.r[1][0], p.r[1][1], p.r[1][2], t[1]], [p.r[2][0], p.r[2][1], p.r[2][2], t[2]]];
let a0: Vec<f64> = (0..4).map(|j| x[0] * rows[2][j] - rows[0][j]).collect();
let a1: Vec<f64> = (0..4).map(|j| x[1] * rows[2][j] - rows[1][j]).collect();
let a0 = [0, 1, 2, 3].map(|j| x[0] * rows[2][j] - rows[0][j]);
let a1 = [0, 1, 2, 3].map(|j| x[1] * rows[2][j] - rows[1][j]);
for a in [a0, a1] {
let nrm = a.iter().map(|v| v * v).sum::<f64>().sqrt().max(1e-300);
for i in 0..4 {