Revert 81219ff.
Eigen upstream was broken a little while ago, and it seemed to be
the case that we needed a fix for using the LLT factorization on
ARM.
This has been fixed and AFAIK there are no stable eigen releases
with this bug in it.
For full gore, see
http://eigen.tuxfamily.org/bz/show_bug.cgi?id=992
In light of the fix, the extra layer of indirection introduced earlier
is not needed and we are reverting to normal programming.
Change-Id: I16929d2145253b38339b573b27b6b8fabd523704
diff --git a/internal/ceres/dense_normal_cholesky_solver.cc b/internal/ceres/dense_normal_cholesky_solver.cc
index 8682ae7..b13cf3f 100644
--- a/internal/ceres/dense_normal_cholesky_solver.cc
+++ b/internal/ceres/dense_normal_cholesky_solver.cc
@@ -32,9 +32,9 @@
#include <cstddef>
+#include "Eigen/Dense"
#include "ceres/blas.h"
#include "ceres/dense_sparse_matrix.h"
-#include "ceres/eigen_dense_cholesky.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/lapack.h"
@@ -95,8 +95,11 @@
LinearSolver::Summary summary;
summary.num_iterations = 1;
- if (SolveUpperTriangularUsingCholesky(num_cols, lhs.data(), rhs.data(), x)
- != Eigen::Success) {
+ summary.termination_type = LINEAR_SOLVER_SUCCESS;
+ Eigen::LLT<Matrix, Eigen::Upper> llt =
+ lhs.selfadjointView<Eigen::Upper>().llt();
+
+ if (llt.info() != Eigen::Success) {
summary.termination_type = LINEAR_SOLVER_FAILURE;
summary.message = "Eigen LLT decomposition failed.";
} else {
@@ -104,6 +107,7 @@
summary.message = "Success.";
}
+ VectorRef(x, num_cols) = llt.solve(rhs);
event_logger.AddEvent("Solve");
return summary;
}
