diff options
Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/schur_eliminator_impl.h')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/schur_eliminator_impl.h | 38 |
1 files changed, 30 insertions, 8 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator_impl.h b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator_impl.h index a388d005424..6120db9b009 100644 --- a/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator_impl.h +++ b/extern/libmv/third_party/ceres/internal/ceres/schur_eliminator_impl.h @@ -188,7 +188,7 @@ Eliminate(const BlockSparseMatrixBase* A, typename EigenTypes<kFBlockSize>::ConstVectorRef diag(D + bs->cols[i].position, block_size); - MutexLock l(&cell_info->m); + CeresMutexLock l(&cell_info->m); MatrixRef m(cell_info->values, row_stride, col_stride); m.block(r, c, block_size, block_size).diagonal() += diag.array().square().matrix(); @@ -387,7 +387,7 @@ UpdateRhs(const Chunk& chunk, row.block.size, block_size); const int block = block_id - num_eliminate_blocks_; - MutexLock l(rhs_locks_[block]); + CeresMutexLock l(rhs_locks_[block]); typename EigenTypes<kFBlockSize>::VectorRef (rhs + lhs_row_layout_[block], block_size).noalias() += b.transpose() * sj; @@ -523,7 +523,7 @@ ChunkOuterProduct(const CompressedRowBlockStructure* bs, const typename EigenTypes<kEBlockSize, kFBlockSize>::ConstMatrixRef b2(buffer + it2->second, e_block_size, block2_size); - MutexLock l(&cell_info->m); + CeresMutexLock l(&cell_info->m); MatrixRef m(cell_info->values, row_stride, col_stride); // We explicitly construct a block object here instead of using @@ -532,7 +532,29 @@ ChunkOuterProduct(const CompressedRowBlockStructure* bs, // like the Matrix class does. Eigen::Block<MatrixRef, kFBlockSize, kFBlockSize> block(m, r, c, block1_size, block2_size); - block.noalias() -= b1_transpose_inverse_ete * b2; +#ifdef CERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG + // Removing the ".noalias()" annotation on the following statement is + // necessary 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() -= b1_transpose_inverse_ete * b2; + // + // gets compiled to + // + // block.noalias() += b1_transpose_inverse_ete * b2; + // + // 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. + block -= b1_transpose_inverse_ete * b2; +#else + block.noalias() -= b1_transpose_inverse_ete * b2; +#endif // CERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG } } } @@ -601,7 +623,7 @@ NoEBlockRowOuterProduct(const BlockSparseMatrixBase* A, &r, &c, &row_stride, &col_stride); if (cell_info != NULL) { - MutexLock l(&cell_info->m); + CeresMutexLock l(&cell_info->m); MatrixRef m(cell_info->values, row_stride, col_stride); m.block(r, c, block1_size, block1_size) .selfadjointView<Eigen::Upper>() @@ -621,7 +643,7 @@ NoEBlockRowOuterProduct(const BlockSparseMatrixBase* A, } const int block2_size = bs->cols[row.cells[j].block_id].size; - MutexLock l(&cell_info->m); + CeresMutexLock l(&cell_info->m); MatrixRef m(cell_info->values, row_stride, col_stride); m.block(r, c, block1_size, block2_size).noalias() += b1.transpose() * ConstMatrixRef(row_values + row.cells[j].position, @@ -660,7 +682,7 @@ EBlockRowOuterProduct(const BlockSparseMatrixBase* A, continue; } - MutexLock l(&cell_info->m); + CeresMutexLock l(&cell_info->m); MatrixRef m(cell_info->values, row_stride, col_stride); Eigen::Block<MatrixRef, kFBlockSize, kFBlockSize> @@ -687,7 +709,7 @@ EBlockRowOuterProduct(const BlockSparseMatrixBase* A, row.block.size, block2_size); - MutexLock l(&cell_info->m); + CeresMutexLock l(&cell_info->m); MatrixRef m(cell_info->values, row_stride, col_stride); Eigen::Block<MatrixRef, kFBlockSize, kFBlockSize> block(m, r, c, block1_size, block2_size); |