[RSDK-13550] Apply colinearization before computing blends#189
Merged
acmorrow merged 2 commits intoviam-modules:mainfrom Mar 10, 2026
Merged
[RSDK-13550] Apply colinearization before computing blends#189acmorrow merged 2 commits intoviam-modules:mainfrom
acmorrow merged 2 commits intoviam-modules:mainfrom
Conversation
nfranczak
approved these changes
Mar 10, 2026
| std::optional<waypoint_accumulator> colinearized; | ||
| if (opts.max_linear_deviation() != 0.0) { | ||
| std::vector<decltype(waypoints_range.begin())> skipped; | ||
| for (auto base = waypoints_range.begin(); base != waypoints_range.end();) { |
Contributor
There was a problem hiding this comment.
mutters quietly to themselves about ranges and pipes.
Contributor
Author
There was a problem hiding this comment.
I tried! I really did. But the stateful nature of it makes it not play super well with ranges.
| if (!can_coalesce(*base, *candidate, *target)) { | ||
| break; | ||
| } | ||
| if (!std::ranges::all_of(skipped, [&](auto elt) { return can_coalesce(*base, *elt, *target); })) { |
JohnN193
approved these changes
Mar 10, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
There was a tricky bug that only showed up when using path colinearization. Basically, as a side effect of colinearization, we were allowing linear segment growth to change the tangent angle, resulting in tangent discontinuities at C-L and L-C junctions, which forced us to
s_dot=0: very slow.Instead, colinearize first, then blend.