mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
cb34c4bd37
* Windows CI: more sensor drivers + Windows/macOS bundle scripts * added opengv to mac build * windows bundle fixes * zed extra neural ddl in separate package * OpenGV macos eigen version error * opengv macos build issues
84 lines
3.1 KiB
Diff
84 lines
3.1 KiB
Diff
diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
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index b3b4f66b6..651cd1009 100644
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--- a/cmake/HandleEigen.cmake
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+++ b/cmake/HandleEigen.cmake
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@@ -59,7 +59,12 @@ else()
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endif()
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# Detect Eigen version:
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-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
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+# Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
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+# to a dedicated Eigen/Version header, so check the new location first.
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+set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/Version")
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+if (NOT EXISTS ${EIGEN_VER_H})
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+ set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
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+endif()
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if (EXISTS ${EIGEN_VER_H})
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file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
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diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
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index cfedf6d8c..9c9771407 100644
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--- a/gtsam/base/Matrix.h
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+++ b/gtsam/base/Matrix.h
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@@ -54,7 +54,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>; \
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using Matrix8##N = Eigen::Matrix<double, 8, N>; \
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using Matrix9##N = Eigen::Matrix<double, 9, N>; \
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static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
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-static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
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+static const decltype(Matrix##N::Zero()) Z_##N##x##N = Matrix##N::Zero();
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GTSAM_MAKE_MATRIX_DEFS(1)
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GTSAM_MAKE_MATRIX_DEFS(2)
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diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
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index f7923ff88..5410393f6 100644
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--- a/gtsam/base/Vector.h
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+++ b/gtsam/base/Vector.h
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@@ -27,6 +27,7 @@
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#include <gtsam/global_includes.h>
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#include <Eigen/Core>
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+#include <cassert>
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#include <iosfwd>
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#include <list>
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@@ -42,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
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typedef Eigen::Vector2d Vector2;
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typedef Eigen::Vector3d Vector3;
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-static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
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-static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
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+static const decltype(Vector2::Zero()) Z_2x1 = Vector2::Zero();
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+static const decltype(Vector3::Zero()) Z_3x1 = Vector3::Zero();
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// Create handy typedefs and constants for vectors with N>3
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// VectorN and Z_Nx1, for N=1..9
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#define GTSAM_MAKE_VECTOR_DEFS(N) \
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using Vector##N = Eigen::Matrix<double, N, 1>; \
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- static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
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+ static const decltype(Vector##N::Zero()) Z_##N##x1 = Vector##N::Zero();
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GTSAM_MAKE_VECTOR_DEFS(4)
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GTSAM_MAKE_VECTOR_DEFS(5)
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diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h
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index 22f65b8de..20a0c936e 100644
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--- a/gtsam/linear/iterative.h
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+++ b/gtsam/linear/iterative.h
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@@ -61,7 +61,7 @@ namespace gtsam {
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/** Apply operator A'*e */
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Vector operator^(const Vector& e) const {
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- return A_ ^ e;
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+ return gtsam::operator^(A_, e);
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}
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/**
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@@ -71,7 +71,7 @@ namespace gtsam {
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/** gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) */
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Vector gradient(const Vector& x) const {
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- return A() ^ (A() * x - b());
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+ return gtsam::operator^(A(), Vector(A() * x - b()));
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}
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/** Apply operator A */
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