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Merged in remove_hardcoded_internal_eigen_paths (pull request #131) 

Get rid of hardcoded path to the internal version of eigen inside gtsam
release/4.3a0
Chris Beall 2015-03-11 14:28:01 -04:00
parent e5098375e3 f61e398e2d
commit f95acf4971
6 changed files with 32 additions and 10 deletions
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18
CMakeLists.txt
View File

@ -196,8 +196,7 @@ endif()
### See: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection) ### See: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code) ### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=705 (Fix MKL LLT return code)
### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=716 (Improved comma initialization) ### http://eigen.tuxfamily.org/bz/show_bug.cgi?id=716 (Improved comma initialization)
# option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF) option(GTSAM_USE_SYSTEM_EIGEN "Find and use system-installed Eigen. If 'off', use the one bundled with GTSAM" OFF)
set(GTSAM_USE_SYSTEM_EIGEN OFF)
# Switch for using system Eigen or GTSAM-bundled Eigen # Switch for using system Eigen or GTSAM-bundled Eigen
if(GTSAM_USE_SYSTEM_EIGEN) if(GTSAM_USE_SYSTEM_EIGEN)
@ -206,14 +205,22 @@ 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 paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core> # Use bundled Eigen include path.
set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/") set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
# Clear any variables set by FindEigen3 # Clear any variables set by FindEigen3
if(EIGEN3_INCLUDE_DIR) if(EIGEN3_INCLUDE_DIR)
set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE) set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
endif() endif()
# Add the bundled version of eigen to the include path so that it can still be included
# with #include <Eigen/Core>
include_directories(BEFORE ${GTSAM_EIGEN_INCLUDE_PREFIX})
endif() endif()
# Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen # Write Eigen include file with the paths for either the system Eigen or the GTSAM-bundled Eigen
@ -389,6 +396,11 @@ if(NOT MSVC AND NOT XCODE_VERSION)
message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}") message(STATUS " C compilation flags : ${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${cmake_build_type_toupper}}")
message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}") message(STATUS " C++ compilation flags : ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_${cmake_build_type_toupper}}")
endif() endif()
if(GTSAM_USE_SYSTEM_EIGEN)
message(STATUS " Use System Eigen : Yes")
else()
message(STATUS " Use System Eigen : No")
endif()
if(GTSAM_USE_TBB) if(GTSAM_USE_TBB)
message(STATUS " Use Intel TBB : Yes") message(STATUS " Use Intel TBB : Yes")
elseif(TBB_FOUND) elseif(TBB_FOUND)

11
gtsam/base/Matrix.cpp
View File

@ -20,8 +20,8 @@
#include <gtsam/base/timing.h> #include <gtsam/base/timing.h>
#include <gtsam/base/Vector.h> #include <gtsam/base/Vector.h>
#include <gtsam/base/FastList.h> #include <gtsam/base/FastList.h>
#include <gtsam/3rdparty/Eigen/Eigen/SVD> #include <Eigen/SVD>
#include <gtsam/3rdparty/Eigen/Eigen/LU> #include <Eigen/LU>
#include <boost/foreach.hpp> #include <boost/foreach.hpp>
#include <boost/tuple/tuple.hpp> #include <boost/tuple/tuple.hpp>
@ -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);
} }

6
gtsam/base/Matrix.h
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@ -23,9 +23,9 @@
#pragma once #pragma once
#include <gtsam/base/Vector.h> #include <gtsam/base/Vector.h>
#include <boost/math/special_functions/fpclassify.hpp> #include <boost/math/special_functions/fpclassify.hpp>
#include <gtsam/3rdparty/Eigen/Eigen/Core> #include <Eigen/Core>
#include <gtsam/3rdparty/Eigen/Eigen/Cholesky> #include <Eigen/Cholesky>
#include <gtsam/3rdparty/Eigen/Eigen/LU> #include <Eigen/LU>
#include <boost/format.hpp> #include <boost/format.hpp>
#include <boost/tuple/tuple.hpp> #include <boost/tuple/tuple.hpp>

2
gtsam/base/OptionalJacobian.h
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@ -19,7 +19,7 @@
#pragma once #pragma once
#include <gtsam/3rdparty/Eigen/Eigen/Dense> #include <Eigen/Dense>
#ifndef OPTIONALJACOBIAN_NOBOOST #ifndef OPTIONALJACOBIAN_NOBOOST
#include <boost/optional.hpp> #include <boost/optional.hpp>

2
gtsam/base/Vector.h
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@ -26,7 +26,7 @@
#endif #endif
#include <gtsam/global_includes.h> #include <gtsam/global_includes.h>
#include <gtsam/3rdparty/Eigen/Eigen/Core> #include <Eigen/Core>
#include <iosfwd> #include <iosfwd>
#include <list> #include <list>

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