Merge branch 'fzc-dev' into 'master'

fzc-dev

See merge request !1

README.md

@@ -69,5 +69,7 @@ Type "help", "copyright", "credits" or "license" for more information.
 sh run_tests.sh
 ```
 
-## Known Issue
-- 无
+## 注意
+针对 eigen 需要做下面几处修改：
++ lietorch/eigen/Eigen/src/Core/arch/Default/Half.h:669 行将 ``return half(::hlog(a)); 修改为 return half(::hlog(float(a)));``
++ lietorch/eigen/Eigen/src/Core/arch/Default/Half.h:776 行将 ``return x + (y-x) * half(float(std::rand()) / float(RAND_MAX));`` 修改为 ``return half(x + (y-x) * half(float(std::rand()) / float(RAND_MAX)));``
\ No newline at end of file

lietorch/src/lietorch_gpu.cu

@@ -215,7 +215,7 @@ __global__ void act_backward_kernel(const scalar_t* grad, const scalar_t* X_ptr,
         Point p(p_ptr + i*3);
         PointGrad dq(grad + i*3);
 
-        Eigen::Map<PointGrad>(dp + i*3) = dq * X.Matrix4x4().block<3,3>(0,0);
+        Eigen::Map<PointGrad>(dp + i*3) = dq * X.Matrix4x4().template block<3,3>(0,0);
         Eigen::Map<Grad>(dX + i*Group::N) = dq * Group::act_jacobian(X*p);
     }
 }