Fix CQS signal performance-unnecessary-copy-initialization in fbcode/mapillary/opensfm

Differential Revision: D91669723

fbshipit-source-id: b3e2712f10757c90f507182cca8615f03aa26320

Author: generatedunixname89002005287564

opensfm/src/geometry/transform.h

@@ -30,8 +30,8 @@ Eigen::Matrix3d RotationBetweenPoints(IT begin, IT end) {
 
   Eigen::JacobiSVD<Eigen::Matrix3d> svd(
       M, Eigen::ComputeFullU | Eigen::ComputeFullV);
-  const Eigen::Matrix3d U = svd.matrixU();
-  const Eigen::Matrix3d V = svd.matrixV();
+  const Eigen::Matrix3d& U = svd.matrixU();
+  const Eigen::Matrix3d& V = svd.matrixV();
   Eigen::Matrix3d rotation = U * V.transpose();
   if (rotation.determinant() < 0.) {
     rotation *= -1.0;

opensfm/src/map/src/tracks_manager.cc

@@ -31,7 +31,7 @@ void WriteToStreamCurrentVersion(S& ostream,
           << std::endl;
   const auto shotsIDs = manager.GetShotIds();
   for (const auto& shotID : shotsIDs) {
-    const auto observations = manager.GetShotObservations(shotID);
+    const auto& observations = manager.GetShotObservations(shotID);
     for (const auto& observation : observations) {
       ostream << shotID << "\t" << observation.first << "\t"
               << observation.second.feature_id << "\t"

opensfm/src/robust/absolute_pose_known_rotation_model.h

@@ -30,7 +30,7 @@ class AbsolutePoseKnownRotation
   }
 
   static Error Evaluate(const Type& model, const Data& d) {
-    const auto translation = model;
+    const auto& translation = model;
     const auto bearing = d.first.normalized();
     const auto point = d.second;
     const auto projected = (point + translation).normalized();