Johannes Beck 939253c208 Fix Eigen alignment issues. ...

For proper alignment on the heap Eigen needs to have a custom
allocator. There are two forms, new and in-place new. To make sure
that memory is aligned using new, one needs to overload new by
adding EIGEN_MAKE_ALIGNED_OPERATOR_NEW to any struct which contains a
fixed size Eigen type either through inheritance or as a direct or
indirect member. For the in-place new one need to use the
Eigen::aligned_allocator (e.g. for std::vector, std::list,
FixedArray, etc.). For more details see:
https://eigen.tuxfamily.org/dox/group__DenseMatrixManipulation__Alignement.html

This CL adds EIGEN_MAKE_ALIGNED_OPERATOR_NEW to all structs, which
contain fixed-size Eigen types and uses the Eigen::aligned_allocator
for containers which stores structs of fixed-size Eigen types.

Change-Id: I06c6c4fc74a6835918d5d1c571b7814a14c029d8

2019-04-15 22:09:24 +02:00

..

ceres

Fix Eigen alignment issues.

2019-04-15 22:09:24 +02:00