1 files changed, 12 insertions, 2 deletions
diff --git a/include/ceres/autodiff_local_parameterization.h b/include/ceres/autodiff_local_parameterization.h
index 0aae6c7..c100d48 100644
--- a/include/ceres/autodiff_local_parameterization.h
+++ b/include/ceres/autodiff_local_parameterization.h
@@ -107,11 +107,18 @@ namespace ceres {
 template <typename Functor, int kGlobalSize, int kLocalSize>
 class AutoDiffLocalParameterization : public LocalParameterization {
  public:
+  AutoDiffLocalParameterization() :
+      functor_(new Functor()) {}
+
+  // Takes ownership of functor.
+  explicit AutoDiffLocalParameterization(Functor* functor) :
+      functor_(functor) {}
+
   virtual ~AutoDiffLocalParameterization() {}
   virtual bool Plus(const double* x,
                     const double* delta,
                     double* x_plus_delta) const {
-    return Functor()(x, delta, x_plus_delta);
+    return (*functor_)(x, delta, x_plus_delta);
   }
 
   virtual bool ComputeJacobian(const double* x, double* jacobian) const {
@@ -128,7 +135,7 @@ class AutoDiffLocalParameterization : public LocalParameterization {
     const double* parameter_ptrs[2] = {x, zero_delta};
     double* jacobian_ptrs[2] = { NULL, jacobian };
     return internal::AutoDiff<Functor, double, kGlobalSize, kLocalSize>
-        ::Differentiate(Functor(),
+        ::Differentiate(*functor_,
                         parameter_ptrs,
                         kGlobalSize,
                         x_plus_delta,
@@ -137,6 +144,9 @@ class AutoDiffLocalParameterization : public LocalParameterization {
 
   virtual int GlobalSize() const { return kGlobalSize; }
   virtual int LocalSize() const { return kLocalSize; }
+
+ private:
+  internal::scoped_ptr<Functor> functor_;
 };
 
 }  // namespace ceres