Ceres::PrepareForEvaluation() and shared computations for constraints
I found this Ceres class that is informed by the solver before each time an evaluation will be performed giving 2 booleans:
-
evaluate_jacobians
: if the next evaluation will ask for Jacobians or not -
new_evaluation_points
: if the next evaluation will provide a different evaluation point (allowing pre-computations).
This raises again the related issue of shared computations for different constraints such as extrinsics compositions.