Skip to content

Prepare build with Eigen release v5.0.0 #922

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
RainerKuemmerle merged 1 commit into from
Oct 10, 2025
+7 −13
Merged

Prepare build with Eigen release v5.0.0 #922

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 2 additions & 8 deletions CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -491,15 +491,9 @@ endif(MSVC)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")

# Find Eigen3. If it defines the target, this is used. If not,
# fall back to the using the module form.
# Find Eigen3
# See https://eigen.tuxfamily.org/dox/TopicCMakeGuide.html for details
find_package(Eigen3 3.3 REQUIRED)
if (TARGET Eigen3::Eigen)
set(G2O_EIGEN3_EIGEN_TARGET Eigen3::Eigen)
else()
include_directories(${EIGEN3_INCLUDE_DIR})
endif ()
find_package(Eigen3 REQUIRED NO_MODULE)

# Generate config.h
set(G2O_OPENGL_FOUND ${OPENGL_FOUND})
Expand Down
2 changes: 1 addition & 1 deletion benchmarks/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,4 +4,4 @@ target_include_directories(benchmark_jacobian_timing PUBLIC
"$<BUILD_INTERFACE:${g2o_SOURCE_DIR};${g2o_BINARY_DIR}>"
)

target_link_libraries(benchmark_jacobian_timing benchmark::benchmark ${G2O_EIGEN3_EIGEN_TARGET})
target_link_libraries(benchmark_jacobian_timing benchmark::benchmark Eigen3::Eigen)
2 changes: 1 addition & 1 deletion g2o/core/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ set_target_properties(core PROPERTIES OUTPUT_NAME ${LIB_PREFIX}core)
set_target_properties(core PROPERTIES
VERSION ${G2O_LIB_VERSION}
SOVERSION ${G2O_LIB_SOVERSION})
target_link_libraries(core PUBLIC stuff ${G2O_EIGEN3_EIGEN_TARGET})
target_link_libraries(core PUBLIC stuff Eigen3::Eigen)
target_link_libraries(core PUBLIC g2o_ceres_ad)
target_compile_features(core PUBLIC cxx_std_17)

Expand Down
2 changes: 1 addition & 1 deletion g2o/solvers/csparse/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ target_include_directories(csparse_extension PUBLIC
${CSPARSE_INCLUDE_DIR}
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<INSTALL_INTERFACE:include/g2o/solvers/csparse>)
target_link_libraries(csparse_extension PUBLIC stuff ${CSPARSE_LIBRARY} ${G2O_EIGEN3_EIGEN_TARGET})
target_link_libraries(csparse_extension PUBLIC stuff ${CSPARSE_LIBRARY} Eigen3::Eigen)

add_library(solver_csparse ${G2O_LIB_TYPE}
solver_csparse.cpp
Expand Down
4 changes: 2 additions & 2 deletions g2o/stuff/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ set_target_properties(stuff PROPERTIES
VERSION ${G2O_LIB_VERSION}
SOVERSION ${G2O_LIB_SOVERSION})
target_compile_features(stuff PUBLIC cxx_std_17)
target_link_libraries(stuff PUBLIC ${G2O_EIGEN3_EIGEN_TARGET})
target_link_libraries(stuff PUBLIC Eigen3::Eigen)

if (APPLE)
set_target_properties(stuff PROPERTIES INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
Expand Down Expand Up @@ -67,7 +67,7 @@ if(OPENGL_FOUND AND G2O_HAVE_OPENGL)
$<INSTALL_INTERFACE:include/g2o/stuff>
)

target_link_libraries(opengl_helper PUBLIC ${G2O_OPENGL_TARGET} ${G2O_EIGEN3_EIGEN_TARGET})
target_link_libraries(opengl_helper PUBLIC ${G2O_OPENGL_TARGET} Eigen3::Eigen)
target_compile_features(opengl_helper PUBLIC cxx_std_17)
set_target_properties(opengl_helper PROPERTIES OUTPUT_NAME "${LIB_PREFIX}opengl_helper")
set_target_properties(opengl_helper PROPERTIES
Expand Down
Loading