Raise minimum required Eigen version to 3.3.4
Ubuntu 22.04 ships with Eigen 3.4.0. The MinGW workaround for -O3
related crashes has been available in Eigen since at least version
3.2.0, see https://gitlab.com/libeigen/eigen/-/commit/cc03c9d68354ea3fed03481de045c185ddc1fc49.
Change-Id: Iebfd6ed1fa55a6b0f5bd57bd920188e7b486d8cb
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f53e998..af932c6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -234,17 +234,9 @@
# Eigen.
# Eigen delivers Eigen3Config.cmake since v3.3.3
-find_package(Eigen3 3.3 REQUIRED)
+find_package(Eigen3 3.3.4 REQUIRED NO_MODULE)
if (Eigen3_FOUND)
message("-- Found Eigen version ${Eigen3_VERSION}: ${Eigen3_DIR}")
- if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND
- Eigen3_VERSION VERSION_LESS 3.3.4)
- # As per issue #289: https://github.com/ceres-solver/ceres-solver/issues/289
- # the bundle_adjustment_test will fail for Eigen < 3.3.4 on aarch64.
- message(FATAL_ERROR "-- Ceres requires Eigen version >= 3.3.4 on aarch64. "
- "Detected version of Eigen is: ${Eigen3_VERSION}.")
- endif()
-
if (EIGENSPARSE)
message("-- Enabling use of Eigen as a sparse linear algebra library.")
list(APPEND CERES_COMPILE_OPTIONS CERES_USE_EIGEN_SPARSE)
@@ -545,18 +537,6 @@
endif (CMAKE_BUILD_TYPE STREQUAL "Debug")
endif (NOT CMAKE_BUILD_TYPE)
-if (MINGW)
- # MinGW produces code that segfaults when performing matrix multiplications
- # in Eigen when compiled with -O3 (see [1]), as such force the use of -O2
- # which works.
- #
- # [1] http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556
- message("-- MinGW detected, forcing -O2 instead of -O3 in Release for Eigen due "
- "to a MinGW bug: http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556")
- string(REPLACE "-O3" "-O2" CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
- update_cache_variable(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE}")
-endif (MINGW)
-
# After the tweaks for the compile settings, disable some warnings on MSVC.
if (MSVC)
# Insecure standard library functions
diff --git a/docs/source/installation.rst b/docs/source/installation.rst
index 3446ddb..9747d5f 100644
--- a/docs/source/installation.rst
+++ b/docs/source/installation.rst
@@ -21,7 +21,7 @@
- `CMake <http://www.cmake.org>`_ (**required**) 3.16 or later.
- `Eigen <http://eigen.tuxfamily.org/index.php?title=Main_Page>`_
- (**Required**) 3.3 or later.
+ (**Required**) 3.3.4 or later.
.. NOTE ::
@@ -361,7 +361,7 @@
#. Get dependencies; unpack them as subdirectories in ``ceres/``
(``ceres/eigen``, ``ceres/glog``, etc.)
- #. ``Eigen`` 3.3 . Configure and optionally install Eigen. It should be
+ #. ``Eigen`` 3.3.4 . Configure and optionally install Eigen. It should be
exported into the CMake package registry by default as part of the
configure stage so installation should not be necessary.
