Need for shared pointers as arguments?

[varunagrawal]

Great stuff on the new updates.

However I had a question about using shared pointers as function and constructor args. Is there a reason we're doing Optimizer(const boost::shared_ptr<const OptimizationParameters>& parameters) instead of Optimizer(const OptimizationParameters& parameters)?

Seems like unnecessary verbosity to me especially when OptimizationParameters is a simple struct (aka an encapsulation of various parameters).

[dellaert]

ShareD Pointers are great for noise models, which could be used in thousands of factors or even millions. If we only create a handful or one optimizer ever, I agree it is not needed here.

[varunagrawal]

That's what I figured as well. Highly unlikely we'll need hundreds of optimizer parameters ever.