69 lines
2.5 KiB
Diff
69 lines
2.5 KiB
Diff
--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -180,9 +180,34 @@ endif (IOS)
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unset(CERES_COMPILE_OPTIONS)
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+# We call find_package multiple time with different versioning scheme to support
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+# both Eigen3 3.x and 5.x. If the first invocation fails and Eigen3_DIR was set
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+# to a possible location, e.g., during cross-compilation, failure to locate the
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+# package will unset the variable. To avoid losing the path hint, we save it and
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+# reuse it in the second find_package call.
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+set (_Ceres_Eigen3_DIR)
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+
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+if (Eigen3_DIR)
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+ set (_Ceres_Eigen3_DIR "${Eigen3_DIR}")
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+endif (Eigen3_DIR)
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+
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# Eigen.
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# Eigen delivers Eigen3Config.cmake since v3.3.3
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-find_package(Eigen3 3.3.4 REQUIRED NO_MODULE)
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+find_package(Eigen3 NO_MODULE)
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+
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+if (NOT Eigen3_FOUND)
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+ if (_Ceres_Eigen3_DIR)
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+ set (Eigen3_DIR "${_Ceres_Eigen3_DIR}")
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+ endif (_Ceres_Eigen3_DIR)
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+ # Eigen3's CMake package config prior to 5.0.0 does not support version ranges
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+ # with different major version components. To ensure backward compatibility,
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+ # we locate the package using the previous version scheme as a fallback
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+ # mechanism.
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+ find_package(Eigen3 3.3.4 REQUIRED NO_MODULE)
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+endif (NOT Eigen3_FOUND)
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+
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+unset (_Ceres_Eigen3_DIR)
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+
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if (Eigen3_FOUND)
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message("-- Found Eigen version ${Eigen3_VERSION}: ${Eigen3_DIR}")
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if (EIGENSPARSE)
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--- a/internal/ceres/covariance_impl.cc
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+++ b/internal/ceres/covariance_impl.cc
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@@ -723,8 +723,13 @@ bool CovarianceImpl::ComputeCovarianceValuesUsingDenseSVD() {
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}
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event_logger.AddEvent("ConvertToDenseMatrix");
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+#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
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+ Eigen::BDCSVD<Matrix, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(
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+ dense_jacobian);
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+#else // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
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Eigen::BDCSVD<Matrix> svd(dense_jacobian,
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Eigen::ComputeThinU | Eigen::ComputeThinV);
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+#endif // EIGEN_VERSION_AT_LEAST(5, 0, 0)
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event_logger.AddEvent("SingularValueDecomposition");
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--- a/internal/ceres/invert_psd_matrix.h
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+++ b/internal/ceres/invert_psd_matrix.h
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@@ -68,7 +68,11 @@ typename EigenTypes<kSize, kSize>::Matrix InvertPSDMatrix(
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// For a thin SVD the number of columns of the matrix need to be dynamic.
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using SVDMType = typename EigenTypes<kSize, Eigen::Dynamic>::Matrix;
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+#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
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+ Eigen::JacobiSVD<SVDMType, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(m);
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+#else // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
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Eigen::JacobiSVD<SVDMType> svd(m, Eigen::ComputeThinU | Eigen::ComputeThinV);
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+#endif // EIGEN_VERSION_AT_LEAST(5, 0, 0)
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return svd.solve(MType::Identity(size, size));
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}
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