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Deal with patched/un-patched version of householder_qr_inplace_blocked

release/4.3a0
cbeall3 2015-03-10 13:00:28 -04:00
parent 531ecb4000
commit f61e398e2d
3 changed files with 15 additions and 0 deletions
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5
CMakeLists.txt
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@ -205,6 +205,11 @@ if(GTSAM_USE_SYSTEM_EIGEN)
find_package(Eigen3 REQUIRED) find_package(Eigen3 REQUIRED)
include_directories(AFTER "${EIGEN3_INCLUDE_DIR}") include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
# check if MKL is also enabled - can have one or the other, but not both!
if(EIGEN_USE_MKL_ALL)
message(FATAL_ERROR "MKL cannot be used together with system-installed Eigen, as MKL support relies on patches which are not yet in the system-installed Eigen. Disable either GTSAM_USE_SYSTEM_EIGEN or GTSAM_WITH_EIGEN_MKL")
endif()
else() else()
# Use bundled Eigen include path. # Use bundled Eigen include path.
set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/") set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")

7
gtsam/base/Matrix.cpp
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@ -706,6 +706,7 @@ std::string formatMatrixIndented(const std::string& label, const Matrix& matrix,
return ss.str(); return ss.str();
} }
/* ************************************************************************* */
void inplace_QR(Matrix& A){ void inplace_QR(Matrix& A){
size_t rows = A.rows(); size_t rows = A.rows();
size_t cols = A.cols(); size_t cols = A.cols();
@ -716,7 +717,13 @@ void inplace_QR(Matrix& A){
HCoeffsType hCoeffs(size); HCoeffsType hCoeffs(size);
RowVectorType temp(cols); RowVectorType temp(cols);
#ifdef GTSAM_USE_SYSTEM_EIGEN
// System-Eigen is used, and MKL is off
Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>(A, hCoeffs, 48, temp.data());
#else
// Patched Eigen is used, and MKL is either on or off
Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>::run(A, hCoeffs, 48, temp.data()); Eigen::internal::householder_qr_inplace_blocked<Matrix, HCoeffsType>::run(A, hCoeffs, 48, temp.data());
#endif
zeroBelowDiagonal(A); zeroBelowDiagonal(A);
} }

3
gtsam/config.h.in
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@ -42,6 +42,9 @@
// Whether we are using TBB (if TBB was found and GTSAM_WITH_TBB is enabled in CMake) // Whether we are using TBB (if TBB was found and GTSAM_WITH_TBB is enabled in CMake)
#cmakedefine GTSAM_USE_TBB #cmakedefine GTSAM_USE_TBB
// Whether we are using system-Eigen or our own patched version
#cmakedefine GTSAM_USE_SYSTEM_EIGEN
// Whether Eigen will use MKL (if MKL was found and GTSAM_WITH_EIGEN_MKL is enabled in CMake) // Whether Eigen will use MKL (if MKL was found and GTSAM_WITH_EIGEN_MKL is enabled in CMake)
#cmakedefine GTSAM_USE_EIGEN_MKL #cmakedefine GTSAM_USE_EIGEN_MKL
#cmakedefine EIGEN_USE_MKL_ALL // This is also defined in gtsam_eigen_includes.h #cmakedefine EIGEN_USE_MKL_ALL // This is also defined in gtsam_eigen_includes.h