commit 5bfa7e4e8f0ac6b3d9e593ff1c58193725495c62
author Sameer Agarwal <sameeragarwal@google.com> Fri Oct 05 10:06:27 2012 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Fri Oct 05 13:59:51 2012 -0700
tree 8c12af5252e1900affc120ec4a3da4498417fb6e
parent ba8d967f8c13a52dd552c7b69ba0eb171f04fbc5

Improve the performance of DenseQRSolver

1. Reduce amount of reallocations.

Change-Id: I91b17c781ae94ed12014d647f0162cfce4f6ed7b

internal/ceres/dense_jacobian_writer.h

diff --git a/internal/ceres/dense_jacobian_writer.h b/internal/ceres/dense_jacobian_writer.h
index 1177b83..be743a8 100644
--- a/internal/ceres/dense_jacobian_writer.h
+++ b/internal/ceres/dense_jacobian_writer.h
@@ -62,7 +62,8 @@
 
   SparseMatrix* CreateJacobian() const {
     return new DenseSparseMatrix(program_->NumResiduals(),
-                                 program_->NumEffectiveParameters());
+                                 program_->NumEffectiveParameters(),
+                                 true);
   }
 
   void Write(int residual_id,
@@ -87,10 +88,10 @@
         continue;
       }
 
-      int parameter_block_size = parameter_block->LocalSize();
-      MatrixRef parameter_jacobian(jacobians[j],
-                                   num_residuals,
-                                   parameter_block_size);
+      const int parameter_block_size = parameter_block->LocalSize();
+      ConstMatrixRef parameter_jacobian(jacobians[j],
+                                        num_residuals,
+                                        parameter_block_size);
 
       dense_jacobian->mutable_matrix().block(
           residual_offset,