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- use `static constexpr inline' to avoid requiring
explicit declarations in object code
- use `const Foo* const' to maybe put into readonly
binary segment (at least for ELF DSOs)
- `constexpr' in function scope has storage, avoid
`static'
- don't use `constexpr' where there's no advantage,
like arrays
We'd like to avoid overhead of atomic initialization
for each function call. No idea how `static constexpr'
requiring storage in the standard plays with atomic
initialization requirement. Hearsay points that
`constexpr' without `static' in block scope behaves
more to our liking. It's all hazy though.
I'm not 100% sure if `static inline constexpr' has any
storage. Hopefully none, like a #define, and stuff
bigger than registers gets coalesced within the same
module, with small stuff being immediates.
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Adjust usages.
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Issue: #718
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Issue: #718
This allows for replacing the camera and point extractor code. See
`module.cpp' and `pt-api.hpp`.
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Issue: #644
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Already pushed, damn
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Also, changing "f" typedef to "float" won't break the build anymore.
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- Pass `struct CamInfo' rather than several elements separately
- Reformat
- Return `struct CamInfo' together with the frame since then it's always valid
- Move the focal length formula into `struct CamInfo'
- Remove incorrect focal length formula rather than #if 0
- Pass some stuff by reference and not by pointer
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- separate .{cpp,hpp} for few classes
- don't include namespaces globally; harmless but looks bad
anyway
- class with all public members to struct
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Use stack arrays rather than vectors. std::array may be a better
choice though.
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Adjust usages.
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We want double precision for POSIT. It's best for the type to be set in
ope place without the need to go over everything while switching it back
and forth during tests.
Machine epsilon for float is very small as per
<https://en.wikipedia.org/wiki/Machine_epsilon>. Also see the absurdly
high epsilon of 1e-4 of POSIT that we've had. With floats, making the
epsilon lower resulted in change deltas flushing to zero. This typically
led to the translation Z value being very unstable in PT.
After the epsilon and data type size changes the Z value is stable.
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Closes #224
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