Make the trajectory prediction logic more centralized #532
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DinoBektesevic
approved these changes
Apr 12, 2024
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| // Get pixel positions from a zero-shifted time. Centered indicates whether | ||
| // the prediction starts from the center of the pixel (which it does in the search) | ||
| inline float get_x_pos(float time, bool centered = true) const { | ||
| return centered ? (x + time * vx + 0.5f) : (x + time * vx); | ||
| } | ||
| inline float get_y_pos(float time, bool centered = true) const { | ||
| return centered ? (y + time * vy + 0.5f) : (y + time * vy); | ||
| } | ||
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| inline int get_x_index(float time) const { return (int)floor(get_x_pos(time, true)); } | ||
| inline int get_y_index(float time) const { return (int)floor(get_y_pos(time, true)); } |
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I wonder if this deserves a get_pos that returns an Index or an Point and then snaps them to the respective grids. (For some reason this feels like it was done at one point but there are no traces of this in the code at all?)
On the GPU we have a separate predict_index anyhow and we should use our own inventions for consistency at least.
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Predicting the trajectory's position is done manually throughout a lot of the code as
trj.x + dt * trj.vx + 0.5. The 0.5 pixel offset is applied most of the time, but not everywhere (e.g. in computing the stamps). This PR centralizes the prediction logic intocommon.h.At the same time it makes the 0.5 the standard default throughout the code. This should lead to long term better performance, but requires some changes to tests (for stamps). This also leads to a increase in the number of results found by the diff test.