diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9660f55..0186da4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,12 +31,12 @@ IF(MSVC)
   add_definitions(-D_USE_MATH_DEFINES)
 ELSE()
   IF (CMAKE_SYSTEM_PROCESSOR MATCHES "(arm64)|(ARM64)|(aarch64)|(AARCH64)")
-    add_definitions (-march=armv8-a)
+    #add_definitions (-march=armv8-a)
   ELSEIF (CMAKE_SYSTEM_PROCESSOR MATCHES 
           "(arm)|(ARM)|(armhf)|(ARMHF)|(armel)|(ARMEL)")
-    add_definitions (-march=armv7-a)
+    #add_definitions (-march=armv7-a)
   ELSE ()
-    add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
+    #add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
   ENDIF()
   add_definitions (
     -O3
@@ -181,7 +181,7 @@ add_library( random_generators test/random_generators.cpp test/random_generators
 set_target_properties( opengv random_generators PROPERTIES
                     SOVERSION ${PROJECT_VERSION}
                     VERSION ${PROJECT_VERSION}
-                    CXX_STANDARD 11
+                    CXX_STANDARD 14
                     CXX_STANDARD_REQUIRED ON
                     DEBUG_POSTFIX d )
 
@@ -329,7 +329,7 @@ IF (BUILD_TESTS)
     test_Sturm
 
     PROPERTIES
-    CXX_STANDARD 11
+    CXX_STANDARD 14
     CXX_STANDARD_REQUIRED ON
     DEBUG_POSTFIX d )
 
diff --git a/modules/FindEigen.cmake b/modules/FindEigen.cmake
index 126f4a0..39b5524 100644
--- a/modules/FindEigen.cmake
+++ b/modules/FindEigen.cmake
@@ -30,7 +30,13 @@ if(NOT Eigen_FIND_VERSION)
 endif(NOT Eigen_FIND_VERSION)
 
 macro(_eigen3_check_version)
-  file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+  # Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
+  # to a dedicated Eigen/Version header, so check the new location first.
+  if(EXISTS "${EIGEN_INCLUDE_DIR}/Eigen/Version")
+    file(READ "${EIGEN_INCLUDE_DIR}/Eigen/Version" _eigen3_version_header)
+  else()
+    file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+  endif()
 
   string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
   set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
diff --git a/src/absolute_pose/CentralAbsoluteAdapter.cpp b/src/absolute_pose/CentralAbsoluteAdapter.cpp
index 684fa7e..a4ff2bd 100644
--- a/src/absolute_pose/CentralAbsoluteAdapter.cpp
+++ b/src/absolute_pose/CentralAbsoluteAdapter.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
 
 
diff --git a/src/absolute_pose/MACentralAbsolute.cpp b/src/absolute_pose/MACentralAbsolute.cpp
index 6edbabc..1687d45 100644
--- a/src/absolute_pose/MACentralAbsolute.cpp
+++ b/src/absolute_pose/MACentralAbsolute.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/absolute_pose/MACentralAbsolute.hpp>
 
 
diff --git a/src/absolute_pose/MANoncentralAbsolute.cpp b/src/absolute_pose/MANoncentralAbsolute.cpp
index d9b5b09..a7ae689 100644
--- a/src/absolute_pose/MANoncentralAbsolute.cpp
+++ b/src/absolute_pose/MANoncentralAbsolute.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/absolute_pose/MANoncentralAbsolute.hpp>
 
 opengv::absolute_pose::MANoncentralAbsolute::MANoncentralAbsolute(
diff --git a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
index 30176aa..6a0e405 100644
--- a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
+++ b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
 
 opengv::absolute_pose::NoncentralAbsoluteAdapter::NoncentralAbsoluteAdapter(
diff --git a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
index 88c237a..58a82f4 100644
--- a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
+++ b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp>
 
 opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::NoncentralAbsoluteMultiAdapter(
diff --git a/src/absolute_pose/methods.cpp b/src/absolute_pose/methods.cpp
index b1f0889..19c4eaf 100644
--- a/src/absolute_pose/methods.cpp
+++ b/src/absolute_pose/methods.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/absolute_pose/methods.hpp>
 #include <opengv/Indices.hpp>
 
diff --git a/src/absolute_pose/modules/main.cpp b/src/absolute_pose/modules/main.cpp
index ed0c271..99f7f35 100644
--- a/src/absolute_pose/modules/main.cpp
+++ b/src/absolute_pose/modules/main.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <Eigen/NonLinearOptimization>
 #include <Eigen/NumericalDiff>
 
diff --git a/src/math/arun.cpp b/src/math/arun.cpp
index a0d6296..f5c0ac3 100644
--- a/src/math/arun.cpp
+++ b/src/math/arun.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/math/arun.hpp>
 
 opengv::rotation_t
diff --git a/src/point_cloud/MAPointCloud.cpp b/src/point_cloud/MAPointCloud.cpp
index 81fd5dd..cdccae3 100644
--- a/src/point_cloud/MAPointCloud.cpp
+++ b/src/point_cloud/MAPointCloud.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/point_cloud/MAPointCloud.hpp>
 
 opengv::point_cloud::MAPointCloud::MAPointCloud(
diff --git a/src/point_cloud/PointCloudAdapter.cpp b/src/point_cloud/PointCloudAdapter.cpp
index f9faaeb..28fbb7e 100644
--- a/src/point_cloud/PointCloudAdapter.cpp
+++ b/src/point_cloud/PointCloudAdapter.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/point_cloud/PointCloudAdapter.hpp>
 
 opengv::point_cloud::PointCloudAdapter::PointCloudAdapter(
diff --git a/src/point_cloud/methods.cpp b/src/point_cloud/methods.cpp
index 5409eeb..7a26e6a 100644
--- a/src/point_cloud/methods.cpp
+++ b/src/point_cloud/methods.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/point_cloud/methods.hpp>
 #include <opengv/Indices.hpp>
 
diff --git a/src/relative_pose/CentralRelativeAdapter.cpp b/src/relative_pose/CentralRelativeAdapter.cpp
index 38e9a62..5018bd8 100644
--- a/src/relative_pose/CentralRelativeAdapter.cpp
+++ b/src/relative_pose/CentralRelativeAdapter.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/CentralRelativeAdapter.hpp>
 
 opengv::relative_pose::CentralRelativeAdapter::CentralRelativeAdapter(
diff --git a/src/relative_pose/CentralRelativeMultiAdapter.cpp b/src/relative_pose/CentralRelativeMultiAdapter.cpp
index 2ab7476..49a3a07 100644
--- a/src/relative_pose/CentralRelativeMultiAdapter.cpp
+++ b/src/relative_pose/CentralRelativeMultiAdapter.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/CentralRelativeMultiAdapter.hpp>
 
 opengv::relative_pose::CentralRelativeMultiAdapter::CentralRelativeMultiAdapter(
diff --git a/src/relative_pose/CentralRelativeWeightingAdapter.cpp b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
index a6ab478..7684526 100644
--- a/src/relative_pose/CentralRelativeWeightingAdapter.cpp
+++ b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/CentralRelativeWeightingAdapter.hpp>
 
 opengv::relative_pose::CentralRelativeWeightingAdapter::CentralRelativeWeightingAdapter(
diff --git a/src/relative_pose/MACentralRelative.cpp b/src/relative_pose/MACentralRelative.cpp
index ec2959f..75e76d5 100644
--- a/src/relative_pose/MACentralRelative.cpp
+++ b/src/relative_pose/MACentralRelative.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/MACentralRelative.hpp>
 
 opengv::relative_pose::MACentralRelative::MACentralRelative(
diff --git a/src/relative_pose/MANoncentralRelative.cpp b/src/relative_pose/MANoncentralRelative.cpp
index cea9c14..8566aeb 100644
--- a/src/relative_pose/MANoncentralRelative.cpp
+++ b/src/relative_pose/MANoncentralRelative.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/MANoncentralRelative.hpp>
 
 opengv::relative_pose::MANoncentralRelative::MANoncentralRelative(
diff --git a/src/relative_pose/MANoncentralRelativeMulti.cpp b/src/relative_pose/MANoncentralRelativeMulti.cpp
index 49f8ecf..8b62e07 100644
--- a/src/relative_pose/MANoncentralRelativeMulti.cpp
+++ b/src/relative_pose/MANoncentralRelativeMulti.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/MANoncentralRelativeMulti.hpp>
 
 opengv::relative_pose::MANoncentralRelativeMulti::MANoncentralRelativeMulti(
diff --git a/src/relative_pose/NoncentralRelativeAdapter.cpp b/src/relative_pose/NoncentralRelativeAdapter.cpp
index 552f180..775d520 100644
--- a/src/relative_pose/NoncentralRelativeAdapter.cpp
+++ b/src/relative_pose/NoncentralRelativeAdapter.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/NoncentralRelativeAdapter.hpp>
 
 opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter(
diff --git a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
index f41edbe..733023c 100644
--- a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
+++ b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp>
 
 opengv::relative_pose::NoncentralRelativeMultiAdapter::NoncentralRelativeMultiAdapter(
diff --git a/src/relative_pose/methods.cpp b/src/relative_pose/methods.cpp
index 0027dae..7678567 100644
--- a/src/relative_pose/methods.cpp
+++ b/src/relative_pose/methods.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/methods.hpp>
 #include <opengv/Indices.hpp>
 
diff --git a/src/relative_pose/modules/fivept_nister/modules.cpp b/src/relative_pose/modules/fivept_nister/modules.cpp
index 4b134c5..258d416 100644
--- a/src/relative_pose/modules/fivept_nister/modules.cpp
+++ b/src/relative_pose/modules/fivept_nister/modules.cpp
@@ -29,6 +29,7 @@
  ******************************************************************************/
 
 
+#include <cassert>
 #include <opengv/relative_pose/modules/fivept_nister/modules.hpp>
 #include <Eigen/NonLinearOptimization>
 #include <Eigen/NumericalDiff>