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ee49beaf4f9c970f54300786bd068ca541983d6e
rtabmap/.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch
matlabbe cb34c4bd37 MacOS and Windows binaries update (0.23.8) (#1726) 
* 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
2026-07-01 18:11:28 -07:00

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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>
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