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Sergiu Deitsch
a2bab5af51
Compiling Ceres with Schur specializations and Link Time Optimization
(LTO) results in warnings such as
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:31:8: warning: type ‘struct evaluator’ violates the C++ One Definition Rule [-Wodr]
31 | struct evaluator<Product<Lhs, Rhs, Options>> : public product_evaluator<Product<Lhs, Rhs, Options>> {
| ^
due to the redefinition of EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD which
alters internal Eigen class definitions and consequently results in ODR
violations.
Avoid the ODR violation by renaming the Eigen namespace in translation
units that redefine EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD.
While the issue is diagnosed in LTO builds of Ceres only, the problem
exists in non-LTO builds as well and per standard the compiler is not
even required to diagnose ODR issues. ODR violations constitute
undefined behavior.
Change-Id: Idf7c7a30cc8d3a86b0d62cbd33bef58783a62ee4
Ceres Solver
Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.
- Non-linear Least Squares problems with bounds constraints.
- General unconstrained optimization problems.
Please see ceres-solver.org for more information.