BaptisteHudyma/RGB-D-SLAM

optimize container types

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#30 opened on Nov 29, 2022

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enhancementgood first issue

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Description

Optimize all containers uses

  • replace maps by sorted vectors when needed
  • reserve container size beforhand
  • Reuse allocated containers
  • optimize memory mapping of structures (& check Eigen operators)

Contributor guide

Research direction
Profile the current code to identify performance bottlenecks in container usage. Then, systematically replace maps with sorted vectors where appropriate, add capacity reservations, reuse allocated containers, and optimize memory layout of structures. Verify Eigen operations for aligned allocation.
Tech stack
cpp
Domain
backend
Issue type
Refactor
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-2 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
C++Eigen
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
50