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Kuang Fangjun ea8c6fb161 avoid recomputation. 
f_a/g_a has already been computed and we can use it directly.

Change-Id: I39b07205c7d2486e88076089fa960f116919f27f
2018-09-18 14:39:35 +08:00
..
ceres
avoid recomputation.
2018-09-18 14:39:35 +08:00