commit 928592c57a59a6805c93a170c75cb310a7537520
author Justin Carpentier <justin.carpentier@inria.fr> Wed Oct 24 09:50:47 2018 +0200
committer Justin Carpentier <justin.carpentier@inria.fr> Wed Oct 24 09:50:47 2018 +0200
tree 6297380640125c9a6ebadfd2e8b50aaa76fe9265
parent 2496500436da3b72ac4431e7878d5d5197e2031b

Avoid additional memory allocation in gradient checker

Change-Id: I91e25e43b0826ec75c67961fdcdab7ed05e27e37

internal/ceres/gradient_checker.cc

diff --git a/internal/ceres/gradient_checker.cc b/internal/ceres/gradient_checker.cc
index f00c76e..411a67f 100644
--- a/internal/ceres/gradient_checker.cc
+++ b/internal/ceres/gradient_checker.cc
@@ -111,7 +111,7 @@
       Matrix global_J_local(global_size, local_size);
       local_parameterizations.at(i)->ComputeJacobian(
           parameters[i], global_J_local.data());
-      local_jacobians->at(i) = jacobians->at(i) * global_J_local;
+      local_jacobians->at(i).noalias() = jacobians->at(i) * global_J_local;
     }
   }
   return true;