Pass around a pointer inside ransac to avoid copying

Author: akleeman

include/albatross/src/models/ransac_gp.hpp

@@ -17,53 +17,54 @@ namespace albatross {
 
 template <typename GroupKey>
 inline typename RansacFunctions<ConditionalFit, GroupKey>::FitterFunc
-get_gp_ransac_fitter(const ConditionalGaussian &model,
+get_gp_ransac_fitter(const std::shared_ptr<ConditionalGaussian> &model,
                      const GroupIndexer<GroupKey> &indexer) {
 
   return [&, model, indexer](const std::vector<GroupKey> &groups) {
     auto indices = indices_from_groups(indexer, groups);
-    return model.fit_from_indices(indices);
+    return model->fit_from_indices(indices);
   };
 }
 
 template <typename IsValidCandidateMetric, typename GroupKey>
 inline typename RansacFunctions<ConditionalFit, GroupKey>::IsValidCandidate
-get_gp_ransac_is_valid_candidate(const ConditionalGaussian &model,
-                                 const GroupIndexer<GroupKey> &indexer,
-                                 const IsValidCandidateMetric &metric) {
+get_gp_ransac_is_valid_candidate(
+    const std::shared_ptr<ConditionalGaussian> &model,
+    const GroupIndexer<GroupKey> &indexer,
+    const IsValidCandidateMetric &metric) {
 
   return [&, model, indexer](const std::vector<GroupKey> &groups) {
     const auto indices = indices_from_groups(indexer, groups);
-    const auto prior = model.get_prior(indices);
-    const auto truth = model.get_truth(indices);
+    const auto prior = model->get_prior(indices);
+    const auto truth = model->get_truth(indices);
     return metric(prior, truth);
   };
 }
 
 template <typename InlierMetricType, typename GroupKey>
 inline typename RansacFunctions<ConditionalFit, GroupKey>::InlierMetric
-get_gp_ransac_inlier_metric(const ConditionalGaussian &model,
+get_gp_ransac_inlier_metric(const std::shared_ptr<ConditionalGaussian> &model,
                             const GroupIndexer<GroupKey> &indexer,
                             const InlierMetricType &metric) {
 
   return [&, indexer, model](const GroupKey &group, const ConditionalFit &fit) {
     const auto indices = indexer.at(group);
-    const auto pred = get_prediction_reference(model, fit, indices);
-    const auto truth = model.get_truth(indices);
+    const auto pred = make_prediction(*model, fit, indices);
+    const auto truth = model->get_truth(indices);
     return metric(pred, truth);
   };
 }
 
 template <typename ConsensusMetric, typename GroupKey>
 inline typename RansacFunctions<ConditionalFit, GroupKey>::ConsensusMetric
-get_gp_ransac_consensus_metric(const ConditionalGaussian &model,
-                               const GroupIndexer<GroupKey> &indexer,
-                               const ConsensusMetric &metric) {
+get_gp_ransac_consensus_metric(
+    const std::shared_ptr<ConditionalGaussian> &model,
+    const GroupIndexer<GroupKey> &indexer, const ConsensusMetric &metric) {
 
   return [&, model, indexer](const std::vector<GroupKey> &groups) {
     const auto indices = indices_from_groups(indexer, groups);
-    const auto prior = model.get_prior(indices);
-    const auto truth = model.get_truth(indices);
+    const auto prior = model->get_prior(indices);
+    const auto truth = model->get_truth(indices);
     return metric(prior, truth);
   };
 }
@@ -120,7 +121,9 @@ inline RansacFunctions<ConditionalFit, GroupKey> get_gp_ransac_functions(
   static_assert(is_prediction_metric<InlierMetric>::value,
                 "InlierMetric must be an PredictionMetric.");
 
-  const ConditionalGaussian model(std::forward<PriorDistribution>(prior), truth);
+  const std::shared_ptr<ConditionalGaussian> model =
+      std::make_shared<ConditionalGaussian>(
+          std::forward<PriorDistribution>(prior), truth);
 
   const auto fitter = get_gp_ransac_fitter<GroupKey>(model, indexer);