Detector optimization campaign (2.21×), one optimization per commit - #6

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bouk wants to merge 70 commits into

Commits on Jun 10, 2026

Add TSV detection/timing output flags to apriltag_demo

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3257434
Add hyperfine benchmark script

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164eaff
Memoize segment fits across the candidate-quad search

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dc04beb
Hoist the Gaussian low-pass kernel into a per-thread table

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98d072c
Replace modulo indexing in quad_segment_maxima with wrap adjustments

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9c55305
Reuse per-task scratch buffers in fit_quad

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8a54b42
Ping-pong merge sort: copy points only at the leaves

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541bd01
Add output-equivalence check script

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fe15384
Build with -fno-math-errno

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cf1ac9c
Destroy clusters inside the quad tasks

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c88e79c
Run the cluster merge tree on the worker pool

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4fd699c
Size the per-task cluster hash table to a power of two

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34ff77b
Grow the mem_pools array instead of sizing it from nclustermap

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20f4bd8
Reuse the bucket index for cluster_hash->hash

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62511ad
Cache the last-hit cluster entry

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5a296bd
Defer the pixel's union-find representative lookup

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5ae0a9c
Inline the union-find set-size lookups in the cluster pass

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06e4fb8
Sort cluster points as packed u64 keys

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80812d4
Run-driven gradient clusters with chunk-pool point storage

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d1d70af
Cache threshold buffers across detect calls

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716a229
Heads-only union-find

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8eb1235
Batch interior overlap points in gradient clusters

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8c0bae8
Make pt_compare_angle static inline

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8fb183e
Lean inline path for non-wrapping window fit errors

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4be5395
Branchless key_merge select

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b21cf0c
Replace pairwise cluster merge tree with single-pass k-way heap merge

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516bb6e
Shrink struct pt to 8 bytes; build sort keys in the slope loop

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4802e8d
Sort keys only; lfps reads points through the key indices

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c8ae44f
AVX2 paths for the threshold tile min/max and blur

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2100301
Build shared per-frame run tables once, SIMD RLE scans

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20a1044
Emit fast-path point pairs as packed u64 stores

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04b39d4
Vectorize the cluster bounding-box scan

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2faa318
Two-pass compute_lfps with 4-wide sqrt for the gradient weights

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233fea8
Vectorize the angle-key loop

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78ddcc2
Replace modf calls in refine_edges with truncating casts

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d8a7030
Per-task decode scratch instead of per-quad calloc/malloc

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36db2cc
Benchmark builds with -march=native

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79ecb2b
Store line-fit moments in SoA layout

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4936d9f
Vectorize the window-error loop

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0e195ab
Vectorize the low-pass filter loop

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1779e2a
Add interleaved A/B benchmark harness

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541796e
Index the union-find by run instead of by pixel

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2ccbe33
Segment-driven cluster emission

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add855c
Read-only finds in the cluster gates

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f44781c
AVX2 path for the per-tile threshold compare

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b3170b2
Use 64-point cluster chunks

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615a88d
Add pgo.sh profile-guided build helper

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8134857
Initialize run nodes of rows the union-find chunking leaves uncovered

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e22e362
Quickselect for the maxima threshold

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7c0434b
Integer index math in the lfps weight pass

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c9e1956
Interleaved root walks and full path compression for run connects

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6631b72
Fuse two merge levels of the key sort into 4-way merges

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36e5b5a
Vectorize the interior pair batch stores

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13e2e8b
Fuse run-length encoding into the threshold tasks

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8b53559
Vectorize the window-error maxima scan

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dd9e601
Gather split-cluster fragments and concatenate once

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1bad9ad
Fuse the border-orientation dot product into the vectorized key loop

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08d458e
Tune task granularity to 6 tasks per thread

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4d7bb51
Pin the A/B harness to one CCD

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83a2962
Pin the official benchmark to one CCD

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87dd08d
Pool cluster_hash entries per task

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409ef5c
Flat cluster representation

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c70f32f
Skip the per-quad copy when decoding a single family

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937120c
Parallelize split-cluster concatenation

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e672960
Compute lfps weights in emission order

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f99006c
Hoist homography loads out of the bit-sampling loop

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5f69010
Hoist homography loads in the pattern-sampling loop too

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d85fd8f
Keep graymodel coefficients in registers in the bit loop

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f74d9cb
Vectorize the refine_edges sampling loop

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73ff7a8
Document the optimization campaign: methodology, invariants, dead ends

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cdb964d