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Reduce create problem allocations #215

Merged
merged 1 commit into from
Dec 5, 2020
Merged

Reduce create problem allocations #215

merged 1 commit into from
Dec 5, 2020

Commits on Dec 5, 2020

  1. Move parameter blocks vector outside loop 

    This reduces the amount of allocations required, since the same vector
and its previously allocated memory is reused among all the graph
constraints when the ceres::Problem is created.
    @efernandez
    efernandez committed Dec 5, 2020
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