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Reduce create problem allocations #215

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Dec 5, 2020
Merged

Reduce create problem allocations #215

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3 changes: 2 additions & 1 deletion fuse_graphs/src/hash_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -464,11 +464,12 @@ void HashGraph::createProblem(ceres::Problem& problem) const
}
}
// Add the constraints
std::vector<double*> parameter_blocks;
for (auto& uuid__constraint : constraints_)
{
fuse_core::Constraint& constraint = *(uuid__constraint.second);
// We need the memory address of each variable value referenced by this constraint
std::vector<double*> parameter_blocks;
parameter_blocks.clear();
parameter_blocks.reserve(constraint.variables().size());
for (const auto& uuid : constraint.variables())
{
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