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.
I submitted a Modified Gram-Schmidt QR decomposition to Eigen and a maintainer asked: why? Here’s the benchmark data that answered the question.
How a missing overflow check in Eigen’s TensorUInt128 division operator caused an infinite loop for any dividend above 2^127 — and the one-line fix that stopped it.
A performance optimization in Eigen’s fill path assumed all scalar types are equal. GCC’s libstdc++ disagreed — and AutoDiffScalar paid the price.