diff options
Diffstat (limited to 'internal/ceres/small_blas.h')
| -rw-r--r-- | internal/ceres/small_blas.h | 39 |
1 files changed, 7 insertions, 32 deletions
diff --git a/internal/ceres/small_blas.h b/internal/ceres/small_blas.h index e14e664..5639664 100644 --- a/internal/ceres/small_blas.h +++ b/internal/ceres/small_blas.h @@ -35,36 +35,13 @@ #ifndef CERES_INTERNAL_SMALL_BLAS_H_ #define CERES_INTERNAL_SMALL_BLAS_H_ +#include "ceres/internal/port.h" #include "ceres/internal/eigen.h" #include "glog/logging.h" namespace ceres { namespace internal { -// Remove the ".noalias()" annotation from the matrix matrix -// mutliplies to produce a correct build with the Android NDK, -// including versions 6, 7, 8, and 8b, when built with STLPort and the -// non-standalone toolchain (i.e. ndk-build). This appears to be a -// compiler bug; if the workaround is not in place, the line -// -// block.noalias() -= A * B; -// -// gets compiled to -// -// block.noalias() += A * B; -// -// which breaks schur elimination. Introducing a temporary by removing the -// .noalias() annotation causes the issue to disappear. Tracking this -// issue down was tricky, since the test suite doesn't run when built with -// the non-standalone toolchain. -// -// TODO(keir): Make a reproduction case for this and send it upstream. -#ifdef CERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG -#define CERES_MAYBE_NOALIAS -#else -#define CERES_MAYBE_NOALIAS .noalias() -#endif - // The following three macros are used to share code and reduce // template junk across the various GEMM variants. #define CERES_GEMM_BEGIN(name) \ @@ -167,11 +144,11 @@ CERES_GEMM_BEGIN(MatrixMatrixMultiplyEigen) { block(Cref, start_row_c, start_col_c, num_row_a, num_col_b); if (kOperation > 0) { - block CERES_MAYBE_NOALIAS += Aref * Bref; + block.noalias() += Aref * Bref; } else if (kOperation < 0) { - block CERES_MAYBE_NOALIAS -= Aref * Bref; + block.noalias() -= Aref * Bref; } else { - block CERES_MAYBE_NOALIAS = Aref * Bref; + block.noalias() = Aref * Bref; } } @@ -227,11 +204,11 @@ CERES_GEMM_BEGIN(MatrixTransposeMatrixMultiplyEigen) { start_row_c, start_col_c, num_col_a, num_col_b); if (kOperation > 0) { - block CERES_MAYBE_NOALIAS += Aref.transpose() * Bref; + block.noalias() += Aref.transpose() * Bref; } else if (kOperation < 0) { - block CERES_MAYBE_NOALIAS -= Aref.transpose() * Bref; + block.noalias() -= Aref.transpose() * Bref; } else { - block CERES_MAYBE_NOALIAS = Aref.transpose() * Bref; + block.noalias() = Aref.transpose() * Bref; } } @@ -393,8 +370,6 @@ inline void MatrixTransposeVectorMultiply(const double* A, #endif // CERES_NO_CUSTOM_BLAS } - -#undef CERES_MAYBE_NOALIAS #undef CERES_GEMM_BEGIN #undef CERES_GEMM_EIGEN_HEADER #undef CERES_GEMM_NAIVE_HEADER |