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| author | Stanislaw Halik <sthalik@misaki.pl> | 2016-03-06 09:12:46 +0100 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2016-03-07 00:35:38 +0100 |
| commit | 611a6df71f8ec2a0f742ad09a89668f684806d39 (patch) | |
| tree | ee5290900bfc080fefdd8aa18a37356209398a7b | |
| parent | 99fb0282ba5cdfdb2b889df8916b36207d21ded0 (diff) | |
tracker/pt: remove branching that's frequently mispredicted
| -rw-r--r-- | tracker-pt/point_tracker.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/tracker-pt/point_tracker.cpp b/tracker-pt/point_tracker.cpp index aa6feb5b..599ce2d3 100644 --- a/tracker-pt/point_tracker.cpp +++ b/tracker-pt/point_tracker.cpp @@ -202,7 +202,8 @@ int PointTracker::POSIT(const PointModel& model, const PointOrder& order_, float else { rho = sqrt(sqrt( (JJ0-II0)*(JJ0-II0) + 4*IJ0*IJ0 )); theta = atan( -2*IJ0 / (JJ0-II0) ); - if (JJ0 - II0 < 0) theta += PI; + // avoid branch misprediction + theta += (JJ0 - II0 < 0) * PI; theta /= 2; } |