After O3DE’s 18 ms frame-graph readback made 30 FPS streaming impossible, we tried Godot. It got us there — eventually. This is the full path from 105 FPS on nothing to 50 FPS per camera with three live RTP streams, including every wrong turn and every underdocumented Godot behavior we hit on the way.
Exploring whether O3DE can replace Unity as the render engine for a drone simulation that streams multiple 1080p camera feeds via GStreamer. From first scaffold to three live RenderToTexture pipelines in a single session.
Working through six C++ problems modeled on Optiver’s Senior SWE assessment: supermarket checkout simulation, order book matching, dividend pricing, lattice path DP, Dijkstra with K free edges, and a price-alert router built twice — AoS first, then SoA. Every bug, wrong turn, and data structure tradeoff included.
A one-word review comment on my Eigen MR revealed that hand-rolling normalization with .norm() silently breaks on extreme inputs. Eigen already had the fix — I just wasn’t using it.
How a simple erase-remove in every add_timer() call turned entity registration into a quadratic bottleneck — and the 71x speedup from moving cleanup to the right place.
Eigen’s blocked Householder path only existed for left-side application. I added the right-side equivalent, upgrading M*Q from O(n) rank-1 updates to cache-friendly blocked matrix multiplies.
How we built a GStreamer plugin suite for zero-copy NVMM video on NVIDIA Jetson, the bugs we hit along the way, and what it takes to contribute to the GStreamer project — from filing issues to getting an MR merged.
Everything I learned submitting four pull requests to ROS 2 core repositories — from finding issues and building in Docker to passing DCO checks, handling OSRF’s AI disclosure policy, rebasing across distro branches, and running the full test suites. A warts-and-all field guide.
Everything I learned contributing 6 PRs to PX4-Autopilot in a single session — from Docker-based builds and sanitizer workflows, through uXRCE-DDS session debugging and MAVLink signing analysis, to SITL integration testing. Real bugs, real fixes, real build output.
Eigen’s .inc plugin headers were read by Doxygen but never preprocessed as C++ — meaning macros like EIGEN_PARSED_BY_DOXYGEN were silently ignored. Here’s how I verified it in Docker and what the one-line fix looks like.