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> As I understand they the main goal was to achieve easily readable and maintainable code, even to the detriment of performance.

Seems like a tricky goal for image algorithms in general where you're performing the same action over and over on millions of pixels. Obscure inner loop optimisations are pretty much required.

In these situations, I would sometimes keep the code for the naive but slow version around next to the highly optimised but difficult to understand version. You can compare the output of them to find bugs as well.




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